Base class and basic functions for Lie types. More...
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Classes | |
| struct | gtsam::LieGroup< Class, N > |
| struct | gtsam::lie_group_tag |
| tag to assert a type is a Lie group More... | |
| struct | gtsam::internal::LieGroupTraits< Class > |
| struct | gtsam::internal::LieGroup< Class > |
| Both LieGroupTraits and Testable. More... | |
| class | gtsam::IsLieGroup< T > |
| class | gtsam::TransformCovariance< T > |
Namespaces | |
| gtsam | |
Macros | |
| #define | GTSAM_CONCEPT_LIE_INST(T) template class gtsam::IsLieGroup<T>; |
| #define | GTSAM_CONCEPT_LIE_TYPE(T) using _gtsam_IsLieGroup_##T = gtsam::IsLieGroup<T>; |
Functions | |
| template<class Class > | |
| Class | gtsam::between_default (const Class &l1, const Class &l2) |
| template<class Class > | |
| Vector | gtsam::logmap_default (const Class &l0, const Class &lp) |
| template<class Class > | |
| Class | gtsam::expmap_default (const Class &t, const Vector &d) |
| 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 T > | |
| Matrix | gtsam::wedge (const Vector &x) |
| template<class T > | |
| T | gtsam::expm (const Vector &x, int K=7) |
| template<typename T > | |
| T | gtsam::interpolate (const T &X, const T &Y, double t, typename MakeOptionalJacobian< T, T >::type Hx={}, typename MakeOptionalJacobian< T, T >::type Hy={}) |
Detailed Description
Base class and basic functions for Lie types.
Macro Definition Documentation
◆ GTSAM_CONCEPT_LIE_INST
| #define GTSAM_CONCEPT_LIE_INST | ( | T | ) | template class gtsam::IsLieGroup<T>; |
Macros for using the LieConcept
- An instantiation for use inside unit tests
- A typedef for use inside generic algorithms
NOTE: intentionally not in the gtsam namespace to allow for classes not in the gtsam namespace to be more easily enforced as testable
