Base class and basic functions for Lie types. More...

#include <gtsam/base/Manifold.h>
#include <gtsam/base/Group.h>

Include dependency graph for Lie.h:

This graph shows which files directly or indirectly include this file:

Classes
class	gtsam::IsLieGroup< T >

struct	gtsam::lie_group_tag
	tag to assert a type is a Lie group More...

struct	gtsam::internal::LieGroup< Class >
	Both LieGroupTraits and Testable. More...

struct	gtsam::LieGroup< Class, N >

struct	gtsam::internal::LieGroupTraits< Class >

class	gtsam::TransformCovariance< T >

Macros
#define	GTSAM_CONCEPT_LIE_INST(T) template class gtsam::IsLieGroup<T>;

#define	GTSAM_CONCEPT_LIE_TYPE(T) typedef gtsam::IsLieGroup<T> _gtsam_IsLieGroup_##T;

Functions
template<class T >
T	gtsam::BCH (const T &X, const T &Y)
	AGC: bracket() only appears in Rot3 tests, should this be used elsewhere? More...

template<class Class >
Class	gtsam::between_default (const Class &l1, const Class &l2)

template<class T >
T	gtsam::expm (const Vector &x, int K=7)

template<class Class >
Class	gtsam::expmap_default (const Class &t, const Vector &d)

template<typename T >
T	gtsam::interpolate (const T &X, const T &Y, double t)

template<class Class >
Vector	gtsam::logmap_default (const Class &l0, const Class &lp)

template<class T >
Matrix	gtsam::wedge (const Vector &x)

Detailed Description

Base class and basic functions for Lie types.

Author: Richard Roberts; Alex Cunningham; Frank Dellaert; Mike Bosse; Duy Nguyen Ta

Definition in file Lie.h.

Macro Definition Documentation

#define GTSAM_CONCEPT_LIE_INST ( T ) template class gtsam::IsLieGroup<T>;

Macros for using the LieConcept

NOTE: intentionally not in the gtsam namespace to allow for classes not in the gtsam namespace to be more easily enforced as testable

Definition at line 355 of file Lie.h.

#define GTSAM_CONCEPT_LIE_TYPE ( T ) typedef gtsam::IsLieGroup<T> _gtsam_IsLieGroup_##T;

Definition at line 356 of file Lie.h.