Template Struct BundleTangentBase¶
Defined in File BundleTangent_base.h
Inheritance Relationships¶
Base Type¶
public manif::TangentBase< _Derived >(Template Struct TangentBase)
Struct Documentation¶
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template<typename _Derived>
struct BundleTangentBase : public manif::TangentBase<_Derived>¶ The base class of the Bundle tangent.
Public Types
Public Functions
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template<int _Idx>
auto element() -> MapElement<_Idx>
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template<int _Idx>
auto element() const -> MapConstElement<_Idx>
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Scalar *data()¶
Access the underlying data by pointer.
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const Scalar *data() const¶
Access the underlying data by const pointer.
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DataType &coeffs()¶
Access the underlying data by reference.
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const DataType &coeffs() const¶
Access the underlying data by const reference.
Public Static Attributes
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static constexpr std::size_t BundleSize = internal::traits<_Derived>::BundleSize¶
Number of elements in the BundleTangent.
Protected Functions
- MANIF_DEFAULT_CONSTRUCTOR(BundleTangentBase) public LieGroup exp (OptJacobianRef J_m_t={}) const
Hat operator.
Exponential operator.
- Returns:
An element of the Lie algebra.
- Returns:
An element of the Lie Group.
- MANIF_DEPRECATED LieGroup retract (OptJacobianRef J_m_t={}) const
This function is deprecated. Please considere using exp instead.
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Jacobian rjac() const¶
Get the right Jacobian.
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Jacobian ljac() const¶
Get the left Jacobian.
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Jacobian rjacinv() const¶
Get the inverse of the right Jacobian.
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Jacobian ljacinv() const¶
Get the inverse of the left Jacobian.
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Jacobian smallAdj() const¶
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template<int _Idx>
MapElement<_Idx> element()¶ Access BundleTangent element as Map.
- Template Parameters:
_Idx – element index
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template<int _Idx>
MapConstElement<_Idx> element() const¶ Access BundleTangent element as Map to const.
- Template Parameters:
_Idx – element index
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template<int _Idx>