Lie.h File Reference

Base class and basic functions for Lie types. More...

Go to the source code of this file.

Classes
class	gtsam::LieConcept< T >
	Concept check class for Lie group type. More...

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Macros
#define	GTSAM_CONCEPT_LIE_INST(T)
	Macros for using the LieConcept. More...
#define	GTSAM_CONCEPT_LIE_TYPE(T)

Functions
template<class T >
T	gtsam::between_default (const T &l1, const T &l2)
	These core global functions can be specialized by new Lie types for better performance. More...
template<class T >
Vector	gtsam::logmap_default (const T &l0, const T &lp)
	Log map centered at l0, s.t. More...
template<class T >
T	gtsam::expmap_default (const T &t, const Vector &d)
	Exponential map centered at l0, s.t. More...
template<class T >
T	gtsam::BCH (const T &X, const T &Y)
	Three term approximation of the Baker�Campbell�Hausdorff formula In non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y) it is not true that Z = X+Y. More...
template<class T >
Matrix	gtsam::wedge (const Vector &x)
	Declaration of wedge (see Murray94book) used to convert from n exponential coordinates to n*n element of the Lie algebra.
template<class T >
T	gtsam::expm (const Vector &x, int K=7)
	Exponential map given exponential coordinates class T needs a wedge<> function and a constructor from Matrix. More...

Detailed Description

Base class and basic functions for Lie types.

Author

Richard Roberts

Alex Cunningham

Macro Definition Documentation

#define GTSAM_CONCEPT_LIE_INST

(

T

)

Value:

template class gtsam::ManifoldConcept<T>; \
    template class gtsam::GroupConcept<T>; \
    template class gtsam::LieConcept<T>;

Macros for using the LieConcept.

• An instantiation for use inside unit tests
• A typedef for use inside generic algorithms

NOTE: intentionally not in the gtsam namespace to allow for classes not in the gtsam namespace to be more easily enforced as testable

#define GTSAM_CONCEPT_LIE_TYPE

(

T

)

Value:

typedef gtsam::ManifoldConcept<T> _gtsam_ManifoldConcept_##T; \
    typedef gtsam::GroupConcept<T> _gtsam_GroupConcept_##T; \
    typedef gtsam::LieConcept<T> _gtsam_LieConcept_##T;