Template Struct RnBase

Inheritance Relationships

Base Type

Struct Documentation

template<typename _Derived>
struct RnBase : public manif::LieGroupBase<_Derived>

The base class of the Rn group.

Note

See Appendix E.

Public Types

using Transformation = typename internal::traits<_Derived>::Transformation

Public Functions

DataType &coeffs()

Access the underlying data by const reference.

const DataType &coeffs() const

Access the underlying data by const reference.

Protected Functions

MANIF_DEFAULT_CONSTRUCTOR(RnBase) public Tangent log (OptJacobianRef J_t_m={}) const

Get the inverse of this.

Get the Rn corresponding Lie algebra element in vector form.

See also

RnTangent.

Note

r^-1 = -r

Note

See Appendix E and Eq. (189).

Note

This is the log() map in vector form.

Note

See Appendix E.

Parameters:

  • -optional- – [out] J_minv_m Jacobian of the inverse wrt this.

  • -optional- – [out] J_t_m Jacobian of the tangent wrt to this.

Returns:

The Rn tangent of this.

MANIF_DEPRECATED Tangent lift (OptJacobianRef J_t_m={}) const

This function is deprecated. Please considere using log instead.

template<typename _DerivedOther>
LieGroup compose(const LieGroupBase<_DerivedOther> &m, OptJacobianRef J_mc_ma = {}, OptJacobianRef J_mc_mb = {}) const

Composition of this and another Rn element.

Note

See Eq. (190).

Parameters:

  • m – [in] Another Rn element.

  • -optional- – [out] J_mc_ma Jacobian of the composition wrt this.

  • -optional- – [out] J_mc_mb Jacobian of the composition wrt m.

Returns:

The composition of ‘this . m’.

template<typename _EigenDerived>
auto act(const Eigen::MatrixBase<_EigenDerived> &v, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, Dim, DoF>>> J_vout_m = {}, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, Dim, Dim>>> J_vout_v = {}) const -> Eigen::Matrix<Scalar, Dim, 1>

Translation action on a 2-vector.

Parameters:

  • v – A 2-vector.

  • -optional- – [out] J_vout_m The Jacobian of the new object wrt this.

  • -optional- – [out] J_vout_v The Jacobian of the new object wrt input object.

Returns:

The translated 2-vector.

Jacobian adj() const

Get the ajoint matrix of Rn at this.

Note

See Eqs. (188).

Transformation transform() const

Get the transformation matrix (2D isometry).

Note

T = | 0 t | | 0 1 |

inline _Derived &derived() & noexcept
inline const _Derived &derived() const & noexcept