gtsam::internal::LieGroupTraits< Class > Struct Template Reference

#include <Lie.h>

Inheritance diagram for gtsam::internal::LieGroupTraits< Class >:

Public Types
using	structure_category = lie_group_tag

Static Public Member Functions
Lie Group
static TangentVector	Logmap (const Class &m, ChartJacobian Hm={})
static Class	Expmap (const TangentVector &v, ChartJacobian Hv={})
static Class	Compose (const Class &m1, const Class &m2, ChartJacobian H1={}, ChartJacobian H2={})
static Class	Between (const Class &m1, const Class &m2, ChartJacobian H1={}, ChartJacobian H2={})
static Class	Inverse (const Class &m, ChartJacobian H={})
Static Public Member Functions inherited from gtsam::internal::GetDimensionImpl< Class, Class::dimension >
static int	GetDimension (const Class &)

Group
using	group_flavor = multiplicative_group_tag
static Class	Identity ()

Manifold
using	ManifoldType = Class
using	TangentVector = Eigen::Matrix< double, dimension, 1 >
using	ChartJacobian = OptionalJacobian< dimension, dimension >
constexpr static auto	dimension = Class::dimension
static TangentVector	Local (const Class &origin, const Class &other, ChartJacobian Horigin={}, ChartJacobian Hother={})
static Class	Retract (const Class &origin, const TangentVector &v, ChartJacobian Horigin={}, ChartJacobian Hv={})

Detailed Description

template<class Class>
struct gtsam::internal::LieGroupTraits< Class >

A helper class that implements the traits interface for GTSAM lie groups. To use this for your gtsam type, define: template<> struct traits<Class> : public internal::LieGroupTraits<Class> {}; Assumes existence of: identity, dimension, localCoordinates, retract, and additionally Logmap, Expmap, compose, between, and inverse

Definition at line 174 of file Lie.h.

Member Typedef Documentation

ChartJacobian

template<class Class >

using gtsam::internal::LieGroupTraits< Class >::ChartJacobian = OptionalJacobian<dimension, dimension>

Definition at line 188 of file Lie.h.

group_flavor

template<class Class >

using gtsam::internal::LieGroupTraits< Class >::group_flavor = multiplicative_group_tag

Definition at line 179 of file Lie.h.

ManifoldType

template<class Class >

using gtsam::internal::LieGroupTraits< Class >::ManifoldType = Class

Definition at line 185 of file Lie.h.

structure_category

template<class Class >

using gtsam::internal::LieGroupTraits< Class >::structure_category = lie_group_tag

Definition at line 175 of file Lie.h.

TangentVector

template<class Class >

using gtsam::internal::LieGroupTraits< Class >::TangentVector = Eigen::Matrix<double, dimension, 1>

Definition at line 187 of file Lie.h.

Member Function Documentation

Between()

template<class Class >

static Class gtsam::internal::LieGroupTraits< Class >::Between ( const Class &  m1, const Class &  m2, ChartJacobian  H1 = {}, ChartJacobian  H2 = {}  )

inlinestatic

Definition at line 216 of file Lie.h.

Compose()

template<class Class >

static Class gtsam::internal::LieGroupTraits< Class >::Compose ( const Class &  m1, const Class &  m2, ChartJacobian  H1 = {}, ChartJacobian  H2 = {}  )

inlinestatic

Definition at line 211 of file Lie.h.

Expmap()

template<class Class >

static Class gtsam::internal::LieGroupTraits< Class >::Expmap ( const TangentVector &  v, ChartJacobian  Hv = {}  )

inlinestatic

Definition at line 207 of file Lie.h.

Identity()

template<class Class >

static Class gtsam::internal::LieGroupTraits< Class >::Identity ( )

inlinestatic

Definition at line 180 of file Lie.h.

Inverse()

template<class Class >

static Class gtsam::internal::LieGroupTraits< Class >::Inverse ( const Class &  m, ChartJacobian  H = {}  )

inlinestatic

Definition at line 221 of file Lie.h.

Local()

template<class Class >

static TangentVector gtsam::internal::LieGroupTraits< Class >::Local ( const Class &  origin, const Class &  other, ChartJacobian  Horigin = {}, ChartJacobian  Hother = {}  )

inlinestatic

Definition at line 190 of file Lie.h.

Logmap()

template<class Class >

static TangentVector gtsam::internal::LieGroupTraits< Class >::Logmap ( const Class &  m, ChartJacobian  Hm = {}  )

inlinestatic

Definition at line 203 of file Lie.h.

Retract()

template<class Class >

static Class gtsam::internal::LieGroupTraits< Class >::Retract ( const Class &  origin, const TangentVector &  v, ChartJacobian  Horigin = {}, ChartJacobian  Hv = {}  )

inlinestatic

Definition at line 195 of file Lie.h.

Member Data Documentation

dimension

template<class Class >

constexpr static auto gtsam::internal::LieGroupTraits< Class >::dimension = Class::dimension

inlinestaticconstexpr

Definition at line 186 of file Lie.h.

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The documentation for this struct was generated from the following file:

• Lie.h