#include <Lie.h>

Public Types
typedef OptionalJacobian< N, N >	ChartJacobian

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

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

Public Member Functions
Class	between (const Class &g) const

Class	between (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const

SOn	between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const

GTSAM_EXPORT SOn	between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const

Class	compose (const Class &g) const

Class	compose (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const

SOn	compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const

GTSAM_EXPORT SOn	compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const

const Class &	derived () const

Class	expmap (const TangentVector &v) const

Class	expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const
	expmap with optional derivatives More...

Class	inverse (ChartJacobian H) const

TangentVector	localCoordinates (const Class &g) const
	localCoordinates as required by manifold concept: finds tangent vector between *this and g More...

TangentVector	localCoordinates (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const
	localCoordinates with optional derivatives More...

TangentVector	logmap (const Class &g) const

TangentVector	logmap (const Class &g, ChartJacobian H1, ChartJacobian H2={}) const
	logmap with optional derivatives More...

Class	retract (const TangentVector &v) const
	retract as required by manifold concept: applies v at *this More...

Class	retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2={}) const
	retract with optional derivatives More...

Static Public Member Functions
static TangentVector	LocalCoordinates (const Class &g)
	LocalCoordinates at origin: possible in Lie group because it has an identity. More...

static TangentVector	LocalCoordinates (const Class &g, ChartJacobian H)
	LocalCoordinates at origin with optional derivative. More...

static Class	Retract (const TangentVector &v)
	Retract at origin: possible in Lie group because it has an identity. More...

static Class	Retract (const TangentVector &v, ChartJacobian H)
	Retract at origin with optional derivative. More...

Static Public Attributes
constexpr static auto	dimension = N

Detailed Description

template<class Class, int N>
struct gtsam::LieGroup< Class, N >

A CRTP helper class that implements Lie group methods Prerequisites: methods operator*, inverse, and AdjointMap, as well as a ChartAtOrigin struct that will be used to define the manifold Chart To use, simply derive, but also say "using LieGroup<Class,N>::inverse" For derivative math, see doc/math.pdf

Definition at line 37 of file Lie.h.

Member Typedef Documentation

◆ ChartJacobian

template<class Class , int N>

typedef OptionalJacobian<N, N> gtsam::LieGroup< Class, N >::ChartJacobian

Definition at line 40 of file Lie.h.

◆ Jacobian

template<class Class , int N>

typedef Eigen::Matrix<double, N, N> gtsam::LieGroup< Class, N >::Jacobian

Definition at line 41 of file Lie.h.

◆ TangentVector

template<class Class , int N>

typedef Eigen::Matrix<double, N, 1> gtsam::LieGroup< Class, N >::TangentVector

Definition at line 42 of file Lie.h.

Member Function Documentation

◆ between() [1/4]

template<class Class , int N>

Class gtsam::LieGroup< Class, N >::between ( const Class & g ) const

inline

Definition at line 52 of file Lie.h.

◆ between() [2/4]

template<class Class , int N>

Class gtsam::LieGroup< Class, N >::between	(	const Class &	g,
		ChartJacobian	H1,
		ChartJacobian	H2 = `{}`
	)		const

inline

Definition at line 63 of file Lie.h.

◆ between() [3/4]

SOn gtsam::LieGroup< SOn, Eigen::Dynamic >::between	(	const SOn &	g,
		DynamicJacobian	H1,
		DynamicJacobian	H2
	)		const

Definition at line 97 of file SOn.cpp.

◆ between() [4/4]

GTSAM_EXPORT SOn gtsam::LieGroup< SOn, Eigen::Dynamic >::between	(	const SOn &	g,
		DynamicJacobian	H1,
		DynamicJacobian	H2
	)		const

◆ compose() [1/4]

template<class Class , int N>

Class gtsam::LieGroup< Class, N >::compose ( const Class & g ) const

inline

Definition at line 48 of file Lie.h.

◆ compose() [2/4]

template<class Class , int N>

Class gtsam::LieGroup< Class, N >::compose	(	const Class &	g,
		ChartJacobian	H1,
		ChartJacobian	H2 = `{}`
	)		const

inline

Definition at line 56 of file Lie.h.

◆ compose() [3/4]

SOn gtsam::LieGroup< SOn, Eigen::Dynamic >::compose	(	const SOn &	g,
		DynamicJacobian	H1,
		DynamicJacobian	H2
	)		const

Definition at line 89 of file SOn.cpp.

◆ compose() [4/4]

GTSAM_EXPORT SOn gtsam::LieGroup< SOn, Eigen::Dynamic >::compose	(	const SOn &	g,
		DynamicJacobian	H1,
		DynamicJacobian	H2
	)		const

◆ derived()

template<class Class , int N>

const Class& gtsam::LieGroup< Class, N >::derived ( ) const

inline

Definition at line 44 of file Lie.h.

◆ expmap() [1/2]

template<class Class , int N>

Class gtsam::LieGroup< Class, N >::expmap ( const TangentVector & v ) const

inline

expmap as required by manifold concept Applies exponential map to v and composes with *this

Definition at line 78 of file Lie.h.

◆ expmap() [2/2]

template<class Class , int N>

Class gtsam::LieGroup< Class, N >::expmap	(	const TangentVector &	v,
		ChartJacobian	H1,
		ChartJacobian	H2 = `{}`
	)		const

inline

expmap with optional derivatives

Definition at line 89 of file Lie.h.

◆ inverse()

template<class Class , int N>

Class gtsam::LieGroup< Class, N >::inverse ( ChartJacobian H ) const

inline

Definition at line 71 of file Lie.h.

◆ LocalCoordinates() [1/2]

template<class Class , int N>

static TangentVector gtsam::LieGroup< Class, N >::LocalCoordinates ( const Class & g )

inlinestatic

LocalCoordinates at origin: possible in Lie group because it has an identity.

Definition at line 116 of file Lie.h.

◆ localCoordinates() [1/2]

template<class Class , int N>

TangentVector gtsam::LieGroup< Class, N >::localCoordinates ( const Class & g ) const

inline

localCoordinates as required by manifold concept: finds tangent vector between *this and g

Definition at line 136 of file Lie.h.

◆ LocalCoordinates() [2/2]

template<class Class , int N>

static TangentVector gtsam::LieGroup< Class, N >::LocalCoordinates	(	const Class &	g,
		ChartJacobian	H
	)

inlinestatic

LocalCoordinates at origin with optional derivative.

Definition at line 126 of file Lie.h.

◆ localCoordinates() [2/2]

template<class Class , int N>

TangentVector gtsam::LieGroup< Class, N >::localCoordinates	(	const Class &	g,
		ChartJacobian	H1,
		ChartJacobian	H2 = `{}`
	)		const

inline

localCoordinates with optional derivatives

Definition at line 152 of file Lie.h.

◆ logmap() [1/2]

template<class Class , int N>

TangentVector gtsam::LieGroup< Class, N >::logmap ( const Class & g ) const

inline

logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g

Definition at line 84 of file Lie.h.

◆ logmap() [2/2]

template<class Class , int N>

TangentVector gtsam::LieGroup< Class, N >::logmap	(	const Class &	g,
		ChartJacobian	H1,
		ChartJacobian	H2 = `{}`
	)		const

inline

logmap with optional derivatives

Definition at line 100 of file Lie.h.

◆ Retract() [1/2]

template<class Class , int N>

static Class gtsam::LieGroup< Class, N >::Retract ( const TangentVector & v )

inlinestatic

Retract at origin: possible in Lie group because it has an identity.

Definition at line 111 of file Lie.h.

◆ retract() [1/2]

template<class Class , int N>

Class gtsam::LieGroup< Class, N >::retract ( const TangentVector & v ) const

inline

retract as required by manifold concept: applies v at *this

Definition at line 131 of file Lie.h.

◆ Retract() [2/2]

template<class Class , int N>

static Class gtsam::LieGroup< Class, N >::Retract	(	const TangentVector &	v,
		ChartJacobian	H
	)

inlinestatic

Retract at origin with optional derivative.

Definition at line 121 of file Lie.h.

◆ retract() [2/2]

template<class Class , int N>

Class gtsam::LieGroup< Class, N >::retract	(	const TangentVector &	v,
		ChartJacobian	H1,
		ChartJacobian	H2 = `{}`
	)		const

inline

retract with optional derivatives

Definition at line 141 of file Lie.h.

Member Data Documentation

◆ dimension

template<class Class , int N>

constexpr static auto gtsam::LieGroup< Class, N >::dimension = N

inlinestaticconstexpr

Definition at line 39 of file Lie.h.

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

Lie.h

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

template<class Class, int N> struct gtsam::LieGroup< Class, N >

Member Typedef Documentation

◆ ChartJacobian

◆ Jacobian

◆ TangentVector

Member Function Documentation

◆ between() [1/4]

◆ between() [2/4]

◆ between() [3/4]

◆ between() [4/4]

◆ compose() [1/4]

◆ compose() [2/4]

◆ compose() [3/4]

◆ compose() [4/4]

◆ derived()

◆ expmap() [1/2]

◆ expmap() [2/2]

◆ inverse()

◆ LocalCoordinates() [1/2]

◆ localCoordinates() [1/2]

◆ LocalCoordinates() [2/2]

◆ localCoordinates() [2/2]

◆ logmap() [1/2]

◆ logmap() [2/2]

◆ Retract() [1/2]

◆ retract() [1/2]

◆ Retract() [2/2]

◆ retract() [2/2]

Member Data Documentation

◆ dimension

template<class Class, int N>
struct gtsam::LieGroup< Class, N >