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

Adds LieAlgebra, Hat, and Vee to LieGroupTraits. More...

#include <Lie.h>

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

Public Types
using	LieAlgebra = typename Class::LieAlgebra
using	TangentVector = typename LieGroupTraits< Class >::TangentVector
Public Types inherited from gtsam::internal::LieGroupTraits< Class >
using	structure_category = lie_group_tag
using	group_flavor = multiplicative_group_tag
using	ManifoldType = Class
using	TangentVector = Eigen::Matrix< double, dimension, 1 >
using	ChartJacobian = OptionalJacobian< dimension, dimension >

Static Public Member Functions
static LieAlgebra	Hat (const TangentVector &v)
static TangentVector	Vee (const LieAlgebra &X)
Static Public Member Functions inherited from gtsam::internal::LieGroupTraits< Class >
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 Class	Identity ()
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={})
Static Public Member Functions inherited from gtsam::internal::GetDimensionImpl< Class, Class::dimension >
static int	GetDimension (const Class &)

Additional Inherited Members
Static Public Attributes inherited from gtsam::internal::LieGroupTraits< Class >
constexpr static auto	dimension = Class::dimension

Detailed Description

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

Adds LieAlgebra, Hat, and Vee to LieGroupTraits.

Definition at line 233 of file Lie.h.

Member Typedef Documentation

LieAlgebra

template<class Class >

using gtsam::internal::MatrixLieGroupTraits< Class >::LieAlgebra = typename Class::LieAlgebra

Definition at line 234 of file Lie.h.

TangentVector

template<class Class >

using gtsam::internal::MatrixLieGroupTraits< Class >::TangentVector = typename LieGroupTraits<Class>::TangentVector

Definition at line 235 of file Lie.h.

Member Function Documentation

Hat()

template<class Class >

static LieAlgebra gtsam::internal::MatrixLieGroupTraits< Class >::Hat ( const TangentVector &  v )

inlinestatic

Definition at line 237 of file Lie.h.

Vee()

template<class Class >

static TangentVector gtsam::internal::MatrixLieGroupTraits< Class >::Vee ( const LieAlgebra &  X )

inlinestatic

Definition at line 241 of file Lie.h.

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

• Lie.h