gtsam  3.2.1
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gtsam::LieConcept< T > Class Template Reference

Detailed Description

template<class T>
class gtsam::LieConcept< T >

Concept check class for Lie group type.

This concept check provides a specialization on the Manifold type, in which the Manifolds represented require an algebra and group structure. All Lie types must also be a Manifold.

The necessary functions to implement for Lie are defined below with additional details as to the interface. The concept checking function in class Lie will check whether or not the function exists and throw compile-time errors.

The exponential map is a specific retraction for Lie groups, which maps the tangent space in canonical coordinates back to the underlying manifold. Because we can enforce a group structure, a retraction of delta v, with tangent space centered at x1 can be performed as x2 = x1.compose(Expmap(v)).

Expmap around identity static T Expmap(const Vector& v);

Logmap around identity static Vector Logmap(const T& p);

Compute l0 s.t. l2=l1*l0, where (*this) is l1 A default implementation of between(*this, lp) is available: between_default() T between(const T& l2) const;

By convention, we use capital letters to designate a static function

Template Parameters
Tis a Lie type, like Point2, Pose3, etc.
The documentation for this class was generated from the following file: