gtsam  3.2.1
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gtsam::LieVector Struct Reference

Detailed Description

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

+ Inheritance diagram for gtsam::LieVector:

Public Member Functions

 LieVector ()
 default constructor - should be unnecessary
 
 LieVector (const Vector &v)
 initialize from a normal vector
 
template<int N>
 LieVector (const Eigen::Matrix< double, N, 1 > &v)
 initialize from a fixed size normal vector
 
 LieVector (double d)
 wrap a double
 
GTSAM_EXPORT LieVector (size_t m, const double *const data)
 constructor with size and initial data, row order !
 
Vector vector () const
 get the underlying vector
 
GTSAM_EXPORT void print (const std::string &name="") const
 print More...
 
bool equals (const LieVector &expected, double tol=1e-5) const
 equality up to tolerance
 
size_t dim () const
 Returns dimensionality of the tangent space.
 
LieVector retract (const Vector &v) const
 Update the LieVector with a tangent space update.
 
Vector localCoordinates (const LieVector &t2) const
 
LieVector compose (const LieVector &p, boost::optional< gtsam::Matrix & > H1=boost::none, boost::optional< gtsam::Matrix & > H2=boost::none) const
 compose with another object
 
LieVector between (const LieVector &l2, boost::optional< gtsam::Matrix & > H1=boost::none, boost::optional< gtsam::Matrix & > H2=boost::none) const
 between operation
 
LieVector inverse (boost::optional< gtsam::Matrix & > H=boost::none) const
 invert the object and yield a new one
 
- Public Member Functions inherited from gtsam::DerivedValue< LieVector >
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 LieVector & () const
 Conversion to the derived class.
 
 operator LieVector & ()
 Conversion to the derived class.
 
- Public Member Functions inherited from gtsam::Value
virtual ~Value ()
 Virutal destructor.
 

Static Public Member Functions

static LieVector identity ()
 identity - NOTE: no known size at compile time - so zero length
 
static LieVector Expmap (const Vector &v)
 Expmap around identity.
 
static Vector Logmap (const LieVector &p)
 Logmap around identity - just returns with default cast back.
 

Friends

class boost::serialization::access
 

Additional Inherited Members

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

Member Function Documentation

Vector gtsam::LieVector::localCoordinates ( const LieVector &  t2) const
inline
Returns
the local coordinates of another object
void gtsam::LieVector::print ( const std::string &  name = "") const
virtual

print

Parameters
nameoptional string naming the object

Implements gtsam::Value.

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