Template Struct SO2TangentBase

• Defined in File SO2Tangent_base.h

Inheritance Relationships

Base Type

• public manif::TangentBase< _Derived > (Template Struct TangentBase)

Struct Documentation

template<typename _Derived>
struct SO2TangentBase : public manif::TangentBase<_Derived>

The base class of the SO2 tangent.

Note

See Appendix A.

Public Functions

DataType &coeffs()

Access the underlying data by reference.

const DataType &coeffs() const

Access the underlying data by const reference.

Protected Functions

MANIF_DEFAULT_CONSTRUCTOR(SO2TangentBase) public LieGroup exp (OptJacobianRef J_m_t={}) const

Hat operator of SO2.

Get the SO2 element.

Note

See Eqs. (112, 113).

Note

This is the exp() map with the argument in vector form.

Note

See Eqs. (114, 116) and Eq. (126).

Parameters:

-optional- – [out] J_m_t Jacobian of the SO2 element wrt this.

Returns:

An element of the Lie algebra so2 (skew-symmetric matrix).

Returns:

The SO2 element.

MANIF_DEPRECATED LieGroup retract (OptJacobianRef J_m_t={}) const

This function is deprecated. Please considere using exp instead.

Jacobian rjac() const

Get the right Jacobian of SO2.

Note

See Eq. (126).

Jacobian ljac() const

Get the left Jacobian of SO2.

Note

See Eq. (126).

Jacobian rjacinv() const

Get the inverse of the right Jacobian of SO2.

See also

rjac.

Note

See Eq. (126).

Jacobian ljacinv() const

Get the inverse of the right Jacobian of SO2.

See also

ljac.

Note

See Eq. (126).

Jacobian smallAdj() const

Returns:

Scalar angle() const

Get the angle (rad.).

inline _Derived &derived() & noexcept

inline const _Derived &derived() const & noexcept