#include <Lie.h>
Inheritance diagram for gtsam::internal::LieGroupTraits< Class >:
Collaboration diagram for gtsam::internal::LieGroupTraits< Class >:
Public Types | |
| typedef lie_group_tag | structure_category |
Static Public Member Functions | |
| static int | GetDimension (const Class &) |
Lie Group | |
| static TangentVector | Logmap (const Class &m, ChartJacobian Hm={}) |
| static Class | Expmap (const TangentVector &v, ChartJacobian Hv={}) |
| static Class | Compose (const Class &m1, const Class &m2, ChartJacobian H1={}, ChartJacobian H2={}) |
| static Class | Between (const Class &m1, const Class &m2, ChartJacobian H1={}, ChartJacobian H2={}) |
| static Class | Inverse (const Class &m, ChartJacobian H={}) |
Group | |
| typedef multiplicative_group_tag | group_flavor |
| static Class | Identity () |
Manifold | |
| enum | { dimension = Class::dimension } |
| typedef Class | ManifoldType |
| typedef Eigen::Matrix< double, dimension, 1 > | TangentVector |
| typedef OptionalJacobian< dimension, dimension > | ChartJacobian |
| static TangentVector | Local (const Class &origin, const Class &other, ChartJacobian Horigin={}, ChartJacobian Hother={}) |
| static Class | Retract (const Class &origin, const TangentVector &v, ChartJacobian Horigin={}, ChartJacobian Hv={}) |
Detailed Description
template<class Class>
struct gtsam::internal::LieGroupTraits< Class >
A helper class that implements the traits interface for GTSAM lie groups. To use this for your gtsam type, define: template<> struct traits<Class> : public internal::LieGroupTraits<Class> {}; Assumes existence of: identity, dimension, localCoordinates, retract, and additionally Logmap, Expmap, compose, between, and inverse
The documentation for this struct was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/base/Lie.h
