#include <VectorSpace.h>

Inheritance diagram for gtsam::traits< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > >:

Public Types
typedef Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols >	Fixed

typedef vector_space_tag	structure_category

Public Types inherited from gtsam::internal::VectorSpaceImpl< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols >, M *N >
typedef Eigen::Matrix< double, N, 1 >	TangentVector

typedef OptionalJacobian< N, N >	ChartJacobian

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

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

static bool	Equals (const Fixed &v1, const Fixed &v2, double tol=1e-8)

Lie Group
static TangentVector	Logmap (const Fixed &m, ChartJacobian H=boost::none)

static Fixed	Expmap (const TangentVector &v, ChartJacobian H=boost::none)

Static Public Member Functions inherited from gtsam::internal::VectorSpaceImpl< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols >, M *N >
static TangentVector	Logmap (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &m, ChartJacobian Hm=boost::none)

static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols >	Expmap (const TangentVector &v, ChartJacobian Hv=boost::none)

static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols >	Compose (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v1, const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v2, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)

static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols >	Between (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v1, const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v2, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)

static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols >	Inverse (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v, ChartJacobian H=boost::none)

static int	GetDimension (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &)

static TangentVector	Local (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &origin, const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &other, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)

static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols >	Retract (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &origin, const TangentVector &v, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)

Group
typedef additive_group_tag	group_flavor

static Fixed	Identity ()

Manifold
enum	{ dimension = M*N }

typedef Fixed	ManifoldType

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

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

typedef OptionalJacobian< dimension, dimension >	ChartJacobian

static TangentVector	Local (const Fixed &origin, const Fixed &other, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)

static Fixed	Retract (const Fixed &origin, const TangentVector &v, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)