gtsam::LieMatrix Struct Reference

Detailed Description

LieVector is a wrapper around vector to allow it to be a Lie type.

Inheritance diagram for gtsam::LieMatrix:

Group interface
LieMatrix	compose (const LieMatrix &p, boost::optional< gtsam::Matrix & > H1=boost::none, boost::optional< gtsam::Matrix & > H2=boost::none) const
	compose with another object
LieMatrix	between (const LieMatrix &l2, boost::optional< gtsam::Matrix & > H1=boost::none, boost::optional< gtsam::Matrix & > H2=boost::none) const
	between operation
LieMatrix	inverse (boost::optional< gtsam::Matrix & > H=boost::none) const
	invert the object and yield a new one
static LieMatrix	identity ()
	identity - NOTE: no known size at compile time - so zero length

Public Member Functions
Constructors
	LieMatrix ()
	default constructor - should be unnecessary
	LieMatrix (const Matrix &v)
	initialize from a normal matrix
template<int M, int N>
	LieMatrix (const Eigen::Matrix< double, M, N > &v)
	initialize from a fixed size normal vector
	LieMatrix (size_t m, size_t n, const double *const data)
	constructor with size and initial data, row order !
Testable interface
GTSAM_EXPORT void	print (const std::string &name="") const
	print More...
bool	equals (const LieMatrix &expected, double tol=1e-5) const
	equality up to tolerance
Standard Interface
Matrix	matrix () const
	get the underlying vector
Manifold interface
size_t	dim () const
	Returns dimensionality of the tangent space.
LieMatrix	retract (const Vector &v) const
	Update the LieMatrix with a tangent space update. More...
Vector	localCoordinates (const LieMatrix &t2) const
Public Member Functions inherited from gtsam::DerivedValue< LieMatrix >
virtual Value *	clone_ () const
	Create a duplicate object returned as a pointer to the generic Value interface. More...
virtual void	deallocate_ () const
	Destroy and deallocate this object, only if it was originally allocated using clone_().
virtual boost::shared_ptr< Value >	clone () const
	Clone this value (normal clone on the heap, delete with 'delete' operator)
virtual bool	equals_ (const Value &p, double tol=1e-9) const
	equals implementing generic Value interface
virtual Value *	retract_ (const Vector &delta) const
	Generic Value interface version of retract.
virtual Vector	localCoordinates_ (const Value &value2) const
	Generic Value interface version of localCoordinates.
virtual Value &	operator= (const Value &rhs)
	Assignment operator.
	operator const LieMatrix & () const
	Conversion to the derived class.
	operator LieMatrix & ()
	Conversion to the derived class.
Public Member Functions inherited from gtsam::Value
virtual	~Value ()
	Virutal destructor.

Static Public Member Functions
Lie group interface
static LieMatrix	Expmap (const Vector &v)
	Expmap around identity.
static Vector	Logmap (const LieMatrix &p)
	Logmap around identity.

Friends
class	boost::serialization::access

Additional Inherited Members
Protected Member Functions inherited from gtsam::DerivedValue< LieMatrix >
DerivedValue< LieMatrix > &	operator= (const DerivedValue< LieMatrix > &rhs)
	Assignment operator, protected because only the Value or DERIVED assignment operators should be used. More...

Member Function Documentation

Vector gtsam::LieMatrix::localCoordinates ( const LieMatrix &  t2 ) const

inline

Returns

the local coordinates of another object. The elements of the tangent space vector correspond to the matrix entries arranged in row-major order.

void gtsam::LieMatrix::print ( const std::string &  name = "" ) const

virtual

print

Parameters

s	optional string naming the object

Implements gtsam::Value.

LieMatrix gtsam::LieMatrix::retract ( const Vector &  v ) const

inline

Update the LieMatrix with a tangent space update.

The elements of the tangent space vector correspond to the matrix entries arranged in row-major order.

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The documentation for this struct was generated from the following files:

• /home/cbeall3/git/gtsam/gtsam/base/LieMatrix.h
• /home/cbeall3/git/gtsam/gtsam/base/LieMatrix.cpp