Detailed Description

LieScalar is a wrapper around double to allow it to be a Lie type.

Inheritance diagram for gtsam::LieScalar:

Public Member Functions
	LieScalar ()
	default constructor

	LieScalar (double d)
	wrap a double

double	value () const
	access the underlying value

	operator double () const
	Automatic conversion to underlying value.

void	print (const std::string &name="") const
	print More...

bool	equals (const LieScalar &expected, double tol=1e-5) const
	equality up to tolerance

size_t	dim () const
	Returns dimensionality of the tangent space.

LieScalar	retract (const Vector &v) const
	Update the LieScalar with a tangent space update.

Vector	localCoordinates (const LieScalar &t2) const

LieScalar	compose (const LieScalar &p, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	compose with another object

LieScalar	between (const LieScalar &l2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	between operation

LieScalar	inverse () const
	invert the object and yield a new one

Public Member Functions inherited from gtsam::DerivedValue< LieScalar >
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 LieScalar & () const
	Conversion to the derived class.

	operator LieScalar & ()
	Conversion to the derived class.

Public Member Functions inherited from gtsam::Value
virtual	~Value ()
	Virutal destructor.

Static Public Member Functions
static size_t	Dim ()

static LieScalar	identity ()
	identity

static LieScalar	Expmap (const Vector &v)
	Expmap around identity.

static Vector	Logmap (const LieScalar &p)
	Logmap around identity - just returns with default cast back.

static Matrix	dexpL (const Vector &v)
	Left-trivialized derivative of the exponential map.

static Matrix	dexpInvL (const Vector &v)
	Left-trivialized derivative inverse of the exponential map.

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

Member Function Documentation

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

inline

Returns: the local coordinates of another object

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

virtual

print

Parameters

name	optional string naming the object

Implements gtsam::Value.

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

/home/cbeall3/git/gtsam/gtsam/base/LieScalar.h
/home/cbeall3/git/gtsam/gtsam/base/LieScalar.cpp

Detailed Description

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Member Function Documentation