Template Class Manifold

• Defined in File ceres_manifold.hpp

Inheritance Relationships

Base Type

• public ceres::Manifold

Class Documentation

template<template<typename, int = 0> class LieGroup>
class Manifold : public ceres::Manifold

Templated local parameterization for LieGroup [with implemented LieGroup::Dx_this_mul_exp_x_at_0() ]

Public Types

using LieGroupd = LieGroup<double>

using Tangent = typename LieGroupd::Tangent

using TangentMap = typename Sophus::Mapper<Tangent>::Map

using TangentConstMap = typename Sophus::Mapper<Tangent>::ConstMap

Public Functions

inline bool Plus(double const *T_raw, double const *delta_raw, double *T_plus_delta_raw) const override

LieGroup plus operation for Ceres

T * exp(x)

inline bool PlusJacobian(double const *T_raw, double *jacobian_raw) const override

Jacobian of LieGroup plus operation for Ceres

Dx T * exp(x) with x=0

inline bool Minus(double const *y_raw, double const *x_raw, double *y_minus_x_raw) const override

inline bool MinusJacobian(double const *x_raw, double *jacobian_raw) const override

inline int AmbientSize() const override

inline int TangentSize() const override

Public Static Attributes

static constexpr int DoF = LieGroupd::DoF

static constexpr int num_parameters = LieGroupd::num_parameters