GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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#include <ProductLieGroup.h>
Public Member Functions | |
ProductLieGroup () | |
Default constructor yields identity. | |
ProductLieGroup (const G &g, const H &h) | |
ProductLieGroup (const Base &base) | |
Protected Types | |
enum | { dimension1 = traits<G>::dimension } |
enum | { dimension2 = traits<H>::dimension } |
Group | |
typedef multiplicative_group_tag | group_flavor |
ProductLieGroup | operator* (const ProductLieGroup &other) const |
ProductLieGroup | inverse () const |
ProductLieGroup | compose (const ProductLieGroup &g) const |
ProductLieGroup | between (const ProductLieGroup &g) const |
static ProductLieGroup | Identity () |
Manifold | |
enum | { dimension = dimension1 + dimension2 } |
typedef Eigen::Matrix< double, dimension, 1 > | TangentVector |
typedef OptionalJacobian< dimension, dimension > | ChartJacobian |
size_t | dim () const |
ProductLieGroup | retract (const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={}) const |
TangentVector | localCoordinates (const ProductLieGroup &g, ChartJacobian H1={}, ChartJacobian H2={}) const |
static size_t | Dim () |
Lie Group | |
typedef Eigen::Matrix< double, dimension, dimension > | Jacobian |
typedef Eigen::Matrix< double, dimension1, dimension1 > | Jacobian1 |
typedef Eigen::Matrix< double, dimension2, dimension2 > | Jacobian2 |
ProductLieGroup | compose (const ProductLieGroup &other, ChartJacobian H1, ChartJacobian H2={}) const |
ProductLieGroup | between (const ProductLieGroup &other, ChartJacobian H1, ChartJacobian H2={}) const |
ProductLieGroup | inverse (ChartJacobian D) const |
ProductLieGroup | expmap (const TangentVector &v) const |
TangentVector | logmap (const ProductLieGroup &g) const |
static ProductLieGroup | Expmap (const TangentVector &v, ChartJacobian Hv={}) |
static TangentVector | Logmap (const ProductLieGroup &p, ChartJacobian Hp={}) |
static TangentVector | LocalCoordinates (const ProductLieGroup &p, ChartJacobian Hp={}) |
Template to construct the product Lie group of two other Lie groups Assumes Lie group structure for G and H