Chart at origin, uses Expmap/Logmap for Retract/Local. More...

#include <Gal3.h>

Static Public Member Functions
static Vector10	Local (const Gal3 &g, ChartJacobian Hg={})

static Gal3	Retract (const Vector10 &xi, ChartJacobian Hxi={})

Detailed Description

Chart at origin, uses Expmap/Logmap for Retract/Local.

Definition at line 198 of file Gal3.h.

Member Function Documentation

Vector10 gtsam::Gal3::ChartAtOrigin::Local	(	const Gal3 &	g,
		ChartJacobian	Hg = `{}`
	)

static

Definition at line 458 of file Gal3.cpp.

Gal3 gtsam::Gal3::ChartAtOrigin::Retract	(	const Vector10 &	xi,
		ChartJacobian	Hxi = `{}`
	)

static

Definition at line 453 of file Gal3.cpp.

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