#include <VectorSpace.h>

Inheritance diagram for gtsam::internal::ScalarTraits< Scalar >:

Public Types
typedef vector_space_tag	structure_category

Public Types inherited from gtsam::internal::VectorSpaceImpl< Scalar, 1 >
typedef Eigen::Matrix< double, N, 1 >	TangentVector

typedef OptionalJacobian< N, N >	ChartJacobian

typedef Eigen::Matrix< double, N, N >	Jacobian

typedef Eigen::Matrix< double, N, 1 >	LieAlgebra

Static Public Member Functions
Testable
static void	Print (Scalar m, const std::string &str="")

static bool	Equals (Scalar v1, Scalar v2, double tol=1e-8)

Lie Group
static TangentVector	Logmap (Scalar m, ChartJacobian H={})

static Scalar	Expmap (const TangentVector &v, ChartJacobian H={})

Static Public Member Functions inherited from gtsam::internal::VectorSpaceImpl< Scalar, 1 >
static int	GetDimension (const Scalar &)

static TangentVector	Local (const Scalar &origin, const Scalar &other, ChartJacobian H1={}, ChartJacobian H2={})

static Scalar	Retract (const Scalar &origin, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={})

static TangentVector	Logmap (const Scalar &m, ChartJacobian Hm={})

static Scalar	Expmap (const TangentVector &v, ChartJacobian Hv={})

static Scalar	Compose (const Scalar &v1, const Scalar &v2, ChartJacobian H1={}, ChartJacobian H2={})

static Scalar	Between (const Scalar &v1, const Scalar &v2, ChartJacobian H1={}, ChartJacobian H2={})

static Scalar	Inverse (const Scalar &v, ChartJacobian H={})

static LieAlgebra	Hat (const TangentVector &v)

static TangentVector	Vee (const LieAlgebra &X)

Group
typedef additive_group_tag	group_flavor

static Scalar	Identity ()

Manifold
typedef Scalar	ManifoldType

typedef Eigen::Matrix< double, 1, 1 >	TangentVector

typedef OptionalJacobian< 1, 1 >	ChartJacobian

constexpr static auto	dimension = 1

static TangentVector	Local (Scalar origin, Scalar other, ChartJacobian H1={}, ChartJacobian H2={})

static Scalar	Retract (Scalar origin, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={})

Detailed Description

template<typename Scalar>
struct gtsam::internal::ScalarTraits< Scalar >

A helper that implements the traits interface for scalar vector spaces. Usage: template<> struct traits<Type> : public ScalarTraits<Type> { };

Definition at line 221 of file VectorSpace.h.

Member Typedef Documentation

◆ ChartJacobian

template<typename Scalar >

typedef OptionalJacobian<1, 1> gtsam::internal::ScalarTraits< Scalar >::ChartJacobian

Definition at line 246 of file VectorSpace.h.

◆ group_flavor

template<typename Scalar >

typedef additive_group_tag gtsam::internal::ScalarTraits< Scalar >::group_flavor

Definition at line 237 of file VectorSpace.h.

◆ ManifoldType

template<typename Scalar >

typedef Scalar gtsam::internal::ScalarTraits< Scalar >::ManifoldType

Definition at line 243 of file VectorSpace.h.

◆ structure_category

template<typename Scalar >

typedef vector_space_tag gtsam::internal::ScalarTraits< Scalar >::structure_category

Definition at line 223 of file VectorSpace.h.

◆ TangentVector

template<typename Scalar >

typedef Eigen::Matrix<double, 1, 1> gtsam::internal::ScalarTraits< Scalar >::TangentVector

Definition at line 245 of file VectorSpace.h.

Member Function Documentation

◆ Equals()

template<typename Scalar >

static bool gtsam::internal::ScalarTraits< Scalar >::Equals	(	Scalar	v1,
		Scalar	v2,
		double	tol = `1e-8`
	)

inlinestatic

Definition at line 230 of file VectorSpace.h.

◆ Expmap()

template<typename Scalar >

static Scalar gtsam::internal::ScalarTraits< Scalar >::Expmap	(	const TangentVector &	v,
		ChartJacobian	H = `{}`
	)

inlinestatic

Definition at line 272 of file VectorSpace.h.

◆ Identity()

template<typename Scalar >

static Scalar gtsam::internal::ScalarTraits< Scalar >::Identity ( )

inlinestatic

Definition at line 238 of file VectorSpace.h.

◆ Local()

template<typename Scalar >

static TangentVector gtsam::internal::ScalarTraits< Scalar >::Local	(	Scalar	origin,
		Scalar	other,
		ChartJacobian	H1 = `{}`,
		ChartJacobian	H2 = `{}`
	)

inlinestatic

Definition at line 248 of file VectorSpace.h.

◆ Logmap()

template<typename Scalar >

static TangentVector gtsam::internal::ScalarTraits< Scalar >::Logmap	(	Scalar	m,
		ChartJacobian	H = `{}`
	)

inlinestatic

Definition at line 267 of file VectorSpace.h.

◆ Print()

template<typename Scalar >

static void gtsam::internal::ScalarTraits< Scalar >::Print	(	Scalar	m,
		const std::string &	str = `""`
	)

inlinestatic

Definition at line 227 of file VectorSpace.h.

◆ Retract()

template<typename Scalar >

static Scalar gtsam::internal::ScalarTraits< Scalar >::Retract	(	Scalar	origin,
		const TangentVector &	v,
		ChartJacobian	H1 = `{}`,
		ChartJacobian	H2 = `{}`
	)

inlinestatic

Definition at line 257 of file VectorSpace.h.

Member Data Documentation

◆ dimension

template<typename Scalar >

constexpr static auto gtsam::internal::ScalarTraits< Scalar >::dimension = 1

inlinestaticconstexpr

Definition at line 244 of file VectorSpace.h.

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

VectorSpace.h

Public Types

Static Public Member Functions

Group

Manifold

Detailed Description

template<typename Scalar> struct gtsam::internal::ScalarTraits< Scalar >

Member Typedef Documentation

◆ ChartJacobian

◆ group_flavor

◆ ManifoldType

◆ structure_category

◆ TangentVector

Member Function Documentation

◆ Equals()

◆ Expmap()

◆ Identity()

◆ Local()

◆ Logmap()

◆ Print()

◆ Retract()

Member Data Documentation

◆ dimension

template<typename Scalar>
struct gtsam::internal::ScalarTraits< Scalar >