gtsam::LieMatrix Struct Reference

#include <LieMatrix.h>

Inheritance diagram for gtsam::LieMatrix:

Public Member Functions
Testable interface
void	print (const std::string &name="") const
bool	equals (const LieMatrix &expected, double tol=1e-5) const
Standard Interface
Matrix	matrix () const
Group
LieMatrix	compose (const LieMatrix &q)
LieMatrix	between (const LieMatrix &q)
LieMatrix	inverse ()
Manifold
Vector	localCoordinates (const LieMatrix &q)
LieMatrix	retract (const Vector &v)

Static Public Member Functions
Lie Group
static Vector	Logmap (const LieMatrix &p)
static LieMatrix	Expmap (const Vector &v)

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int)

Friends
class	boost::serialization::access

Constructors
enum	{ dimension = Eigen::Dynamic }
	LieMatrix ()
	LieMatrix (const Matrix &v)
template<class M >
	LieMatrix (const M &v)
template<int M, int N>
	LieMatrix (const Eigen::Matrix< double, M, N > &v)
	LieMatrix (size_t m, size_t n, const double *const data)

VectorSpace requirements
size_t	dim () const
Vector	vector () const
static LieMatrix	identity ()

Detailed Description

Deprecated:

: LieMatrix, LieVector and LieMatrix are obsolete in GTSAM 4.0 as we can directly add double, Vector, and Matrix into values now, because of gtsam::traits.

Definition at line 32 of file deprecated/LieMatrix.h.

Member Enumeration Documentation

anonymous enum

Enumerator
dimension

Definition at line 36 of file deprecated/LieMatrix.h.

Constructor & Destructor Documentation

gtsam::LieMatrix::LieMatrix ( )

inline

default constructor - only for serialize

Definition at line 39 of file deprecated/LieMatrix.h.

gtsam::LieMatrix::LieMatrix ( const Matrix &  v )

inline

initialize from a normal matrix

Definition at line 42 of file deprecated/LieMatrix.h.

template<class M >

gtsam::LieMatrix::LieMatrix ( const M &  v )

inline

Definition at line 45 of file deprecated/LieMatrix.h.

template<int M, int N>

gtsam::LieMatrix::LieMatrix ( const Eigen::Matrix< double, M, N > &  v )

inline

initialize from a fixed size normal vector

Definition at line 51 of file deprecated/LieMatrix.h.

gtsam::LieMatrix::LieMatrix ( size_t  m, size_t  n, const double *const  data  )

inline

constructor with size and initial data, row order !

Definition at line 55 of file deprecated/LieMatrix.h.

Member Function Documentation

LieMatrix gtsam::LieMatrix::between ( const LieMatrix &  q )

inline

Definition at line 85 of file deprecated/LieMatrix.h.

LieMatrix gtsam::LieMatrix::compose ( const LieMatrix &  q )

inline

Definition at line 84 of file deprecated/LieMatrix.h.

size_t gtsam::LieMatrix::dim ( ) const

inline

Returns dimensionality of the tangent space

Definition at line 105 of file deprecated/LieMatrix.h.

bool gtsam::LieMatrix::equals ( const LieMatrix &  expected, double  tol = 1e-5  ) const

inline

equality up to tolerance

Definition at line 67 of file deprecated/LieMatrix.h.

static LieMatrix gtsam::LieMatrix::Expmap ( const Vector &  v )

inlinestatic

Definition at line 98 of file deprecated/LieMatrix.h.

static LieMatrix gtsam::LieMatrix::identity ( )

inlinestatic

identity - NOTE: no known size at compile time - so zero length

Definition at line 117 of file deprecated/LieMatrix.h.

LieMatrix gtsam::LieMatrix::inverse ( )

inline

Definition at line 86 of file deprecated/LieMatrix.h.

Vector gtsam::LieMatrix::localCoordinates ( const LieMatrix &  q )

inline

Definition at line 91 of file deprecated/LieMatrix.h.

static Vector gtsam::LieMatrix::Logmap ( const LieMatrix &  p )

inlinestatic

Definition at line 97 of file deprecated/LieMatrix.h.

Matrix gtsam::LieMatrix::matrix ( ) const

inline

get the underlying matrix

Definition at line 76 of file deprecated/LieMatrix.h.

void gtsam::LieMatrix::print ( const std::string &  name = "" ) const

inline

print

Parameters

s	optional string naming the object

Definition at line 63 of file deprecated/LieMatrix.h.

LieMatrix gtsam::LieMatrix::retract ( const Vector &  v )

inline

Definition at line 92 of file deprecated/LieMatrix.h.

template<class Archive >

void gtsam::LieMatrix::serialize ( Archive &  ar, const unsigned  int  )

inlineprivate

Definition at line 128 of file deprecated/LieMatrix.h.

Vector gtsam::LieMatrix::vector ( ) const

inline

Convert to vector, is done row-wise - TODO why?

Definition at line 108 of file deprecated/LieMatrix.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Definition at line 126 of file deprecated/LieMatrix.h.

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

• deprecated/LieMatrix.h