GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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Public Types | |
typedef vector_space_tag | structure_category |
typedef Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > | Fixed |
Static Public Member Functions | |
Testable | |
static void | Print (const Fixed &m, const std::string &str="") |
static bool | Equals (const Fixed &v1, const Fixed &v2, double tol=1e-8) |
Lie Group | |
static TangentVector | Logmap (const Fixed &m, ChartJacobian H={}) |
static Fixed | Expmap (const TangentVector &v, ChartJacobian H={}) |
Manifold | |
static int | GetDimension (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &) |
static TangentVector | Local (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &origin, const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &other, ChartJacobian H1={}, ChartJacobian H2={}) |
static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > | Retract (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &origin, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={}) |
Lie Group | |
static TangentVector | Logmap (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &m, ChartJacobian Hm={}) |
static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > | Expmap (const TangentVector &v, ChartJacobian Hv={}) |
static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > | Compose (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v1, const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v2, ChartJacobian H1={}, ChartJacobian H2={}) |
static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > | Between (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v1, const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v2, ChartJacobian H1={}, ChartJacobian H2={}) |
static Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > | Inverse (const Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > &v, ChartJacobian H={}) |
Group | |
typedef additive_group_tag | group_flavor |
static Fixed | Identity () |
Manifold | |
enum | { dimension = M*N } |
typedef Fixed | ManifoldType |
typedef Eigen::Matrix< double, dimension, 1 > | TangentVector |
typedef Eigen::Matrix< double, dimension, dimension > | Jacobian |
typedef OptionalJacobian< dimension, dimension > | ChartJacobian |
static TangentVector | Local (const Fixed &origin, const Fixed &other, ChartJacobian H1={}, ChartJacobian H2={}) |
static Fixed | Retract (const Fixed &origin, const TangentVector &v, ChartJacobian H1={}, ChartJacobian H2={}) |