manif::internal namespace

Classes

template<> struct is_ad<autodiff::dual0th>
template<> struct is_ad<autodiff::dual1st>
template<> struct is_ad<autodiff::dual2nd>
template<> struct is_ad<autodiff::dual3rd>
template<> struct is_ad<autodiff::dual4th>
template<> struct is_ad<dual0thf>
template<> struct is_ad<dual1stf>
template<> struct is_ad<dual2ndf>
template<> struct is_ad<dual3rdf>
template<> struct is_ad<dual4thf>
template<size_t N, typename T> struct is_ad<autodiff::Real<N, T>>
struct YOU_MUST_INCLUDE_MANIF_BEFORE_CERES_HELPER_HEADERS
template<typename _Scalar, int _N> struct is_ad<ceres::Jet<_Scalar, _N>>
template<typename Derived> struct AssignmentEvaluatorImpl
template<typename Derived> struct AssignmentEvaluator
template<typename _Scalar, template<typename> class ... _T> struct traits<Bundle<_Scalar, _T ...>>: Traits specialization.
template<typename Derived> struct RandomEvaluatorImpl<BundleBase<Derived>>: Random specialization for Bundle objects.
template<typename _Scalar, template<typename> class ... T> struct traits<Eigen::Map<Bundle<_Scalar, T...>, 0>>: traits specialization for Eigen Map
template<typename _Scalar, template<typename> class ... T> struct traits<Eigen::Map<const Bundle<_Scalar, T...>, 0>>: traits specialization for Eigen const Map
template<typename _Derived> struct LieGroupProperties<BundleBase<_Derived>>: traits specialization
template<typename _Derived> struct LieGroupProperties<BundleTangentBase<_Derived>>: traits specialization
template<typename _Scalar, template<typename> class ... _T> struct traits<BundleTangent<_Scalar, _T...>>: Traits specialization.
template<typename Derived> struct GeneratorEvaluator<BundleTangentBase<Derived>>: Generator specialization for BundleTangentBase objects.
template<typename Derived> struct RandomEvaluatorImpl<BundleTangentBase<Derived>>: Random specialization for BundleTangent objects.
template<typename _Scalar, template<typename> class ... T> struct traits<Eigen::Map<BundleTangent<_Scalar, T...>, 0>>: traits specialization for Eigen Map
template<typename _Scalar, template<typename> class ... T> struct traits<Eigen::Map<const BundleTangent<_Scalar, T...>, 0>>: traits specialization for Eigen const Map
template<typename Derived, typename NewScalar> struct CastEvaluatorImpl
template<typename Derived, typename NewScalar> struct CastEvaluator
template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols, typename NewScalar> struct traitscast<Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, NewScalar>: traitscast specialization that come handy when writing thing like using Matrix3f = typename traitscast<Matrix3d, float>::cast;
template<typename Derived> struct GeneratorEvaluator
template<typename Derived> struct InnerWeightsEvaluator
template<typename Derived> struct RandomEvaluatorImpl
template<typename Derived> struct RandomEvaluator
template<typename _Scalar, unsigned int _N> struct traits<Rn<_Scalar, _N>>: Traits specialization.
template<typename Derived> struct RandomEvaluatorImpl<RnBase<Derived>>: Random specialization for RnBase objects.
template<typename _Scalar, unsigned int _N> struct traits<Eigen::Map<Rn<_Scalar, _N>, 0>>: traits specialization for Eigen Map
template<typename _Scalar, unsigned int _N> struct traits<Eigen::Map<const Rn<_Scalar, _N>, 0>>: traits specialization for Eigen Map const
template<typename _Derived> struct LieGroupProperties<RnBase<_Derived>>: traits specialization
template<typename _Derived> struct LieGroupProperties<RnTangentBase<_Derived>>: traits specialization
template<typename _Scalar, unsigned int _N> struct traits<RnTangent<_Scalar, _N>>: Traits specialization.
template<typename Derived> struct GeneratorEvaluator<RnTangentBase<Derived>>: Generator specialization for RnTangentBase objects.
template<typename Derived> struct RandomEvaluatorImpl<RnTangentBase<Derived>>: Random specialization for RnTangentBase objects.
template<typename _Scalar, unsigned int _N> struct traits<Eigen::Map<RnTangent<_Scalar, _N>, 0>>: traits specialization for Eigen Map
template<typename _Scalar, unsigned int _N> struct traits<Eigen::Map<const RnTangent<_Scalar, _N>, 0>>: traits specialization for Eigen Map const
template<typename _Scalar> struct traits<SE2<_Scalar>>: traits specialization
template<typename Derived> struct RandomEvaluatorImpl<SE2Base<Derived>>: Random specialization for SE2Base objects.
template<typename Derived> struct AssignmentEvaluatorImpl<SE2Base<Derived>>: Assignment assert specialization for SE2Base objects.
template<typename Derived, typename NewScalar> struct CastEvaluatorImpl<SE2Base<Derived>, NewScalar>: Cast specialization for SE2Base objects.
template<typename _Scalar> struct traits<Eigen::Map<SE2<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<Eigen::Map<const SE2<_Scalar>, 0>>: traits specialization for Eigen Map const
template<typename _Derived> struct LieGroupProperties<SE2Base<_Derived>>: traits specialization
template<typename _Derived> struct LieGroupProperties<SE2TangentBase<_Derived>>: traits specialization
template<typename _Scalar> struct traits<SE2Tangent<_Scalar>>: Traits specialization.
template<typename Derived> struct GeneratorEvaluator<SE2TangentBase<Derived>>: Generator specialization for SE2TangentBase objects.
template<typename Derived> struct InnerWeightsEvaluator<SE2TangentBase<Derived>>: Inner weight matrix specialization for SE2TangentBase objects.
template<typename Derived> struct RandomEvaluatorImpl<SE2TangentBase<Derived>>: Random specialization for SE2TangentBase objects.
template<typename _Scalar> struct traits<Eigen::Map<SE2Tangent<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<Eigen::Map<const SE2Tangent<_Scalar>, 0>>: traits specialization for Eigen Map const
template<typename _Scalar> struct traits<SE3<_Scalar>>: Traits specialization.
template<typename Derived> struct RandomEvaluatorImpl<SE3Base<Derived>>: Random specialization for SE3Base objects.
template<typename Derived> struct AssignmentEvaluatorImpl<SE3Base<Derived>>: Assignment assert specialization for SE3Base objects.
template<typename Derived, typename NewScalar> struct CastEvaluatorImpl<SE3Base<Derived>, NewScalar>: Cast specialization for SE3Base objects.
template<typename _Scalar> struct traits<Eigen::Map<SE3<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<Eigen::Map<const SE3<_Scalar>, 0>>: traits specialization for Eigen Map const
template<typename _Derived> struct LieGroupProperties<SE3Base<_Derived>>: traits specialization
template<typename _Derived> struct LieGroupProperties<SE3TangentBase<_Derived>>: traits specialization
template<typename _Scalar> struct traits<SE3Tangent<_Scalar>>: Traits specialization.
template<typename Derived> struct GeneratorEvaluator<SE3TangentBase<Derived>>: Generator specialization for SE3TangentBase objects.
template<typename Derived> struct RandomEvaluatorImpl<SE3TangentBase<Derived>>: Random specialization for SE3TangentBase objects.
template<typename _Scalar> struct traits<Eigen::Map<SE3Tangent<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<Eigen::Map<const SE3Tangent<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<SE_2_3<_Scalar>>: Traits specialization.
template<typename Derived> struct RandomEvaluatorImpl<SE_2_3Base<Derived>>: Random specialization for SE_2_3Base objects.
template<typename Derived> struct AssignmentEvaluatorImpl<SE_2_3Base<Derived>>: Assignment assert specialization for SE2Base objects.
template<typename Derived, typename NewScalar> struct CastEvaluatorImpl<SE_2_3Base<Derived>, NewScalar>: Cast specialization for SE_2_3Base objects.
template<typename _Scalar> struct traits<Eigen::Map<SE_2_3<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<Eigen::Map<const SE_2_3<_Scalar>, 0>>: traits specialization for Eigen Map const
template<typename _Derived> struct LieGroupProperties<SE_2_3Base<_Derived>>: traits specialization
template<typename _Derived> struct LieGroupProperties<SE_2_3TangentBase<_Derived>>: traits specialization
template<typename _Scalar> struct traits<SE_2_3Tangent<_Scalar>>: Traits specialization.
template<typename Derived> struct GeneratorEvaluator<SE_2_3TangentBase<Derived>>: Generator specialization for SE_2_3TangentBase objects.
template<typename Derived> struct RandomEvaluatorImpl<SE_2_3TangentBase<Derived>>: Random specialization for SE_2_3TangentBase objects.
template<typename _Scalar> struct traits<Eigen::Map<SE_2_3Tangent<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<Eigen::Map<const SE_2_3Tangent<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<SGal3<_Scalar>>: Traits specialization.
template<typename Derived> struct RandomEvaluatorImpl<SGal3Base<Derived>>: Random specialization for SGal3Base objects.
template<typename Derived> struct AssignmentEvaluatorImpl<SGal3Base<Derived>>: Assignment assert specialization for SGal3Base objects.
template<typename Derived, typename NewScalar> struct CastEvaluatorImpl<SGal3Base<Derived>, NewScalar>: Cast specialization for SGal3Base objects.
template<typename _Scalar> struct traits<Eigen::Map<SGal3<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<Eigen::Map<const SGal3<_Scalar>, 0>>: traits specialization for Eigen Map const
template<typename _Derived> struct LieGroupProperties<SGal3Base<_Derived>>: traits specialization
template<typename _Derived> struct LieGroupProperties<SGal3TangentBase<_Derived>>: traits specialization
template<typename _Scalar> struct traits<SGal3Tangent<_Scalar>>: Traits specialization.
template<typename Derived> struct GeneratorEvaluator<SGal3TangentBase<Derived>>: Generator specialization for SGal3TangentBase objects.
template<typename Derived> struct RandomEvaluatorImpl<SGal3TangentBase<Derived>>: Random specialization for SGal3TangentBase objects.
template<typename _Scalar> struct traits<Eigen::Map<SGal3Tangent<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<Eigen::Map<const SGal3Tangent<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<SO2<_Scalar>>: Traits specialization.
template<typename Derived> struct RandomEvaluatorImpl<SO2Base<Derived>>: Random specialization for SO2Base objects.
template<typename Derived> struct AssignmentEvaluatorImpl<SO2Base<Derived>>: Assignment assert specialization for SO2Base objects.
template<typename Derived, typename NewScalar> struct CastEvaluatorImpl<SO2Base<Derived>, NewScalar>: Cast specialization for SO2Base objects.
template<typename _Scalar> struct traits<Eigen::Map<SO2<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<Eigen::Map<const SO2<_Scalar>, 0>>: traits specialization for Eigen Map const
template<typename _Derived> struct LieGroupProperties<SO2Base<_Derived>>: traits specialization
template<typename _Derived> struct LieGroupProperties<SO2TangentBase<_Derived>>: traits specialization
template<typename _Scalar> struct traits<SO2Tangent<_Scalar>>: Traits specialization.
template<typename Derived> struct GeneratorEvaluator<SO2TangentBase<Derived>>: Generator specialization for SO2TangentBase objects. E = | 0 -1 | | 1 0 |.
template<typename Derived> struct RandomEvaluatorImpl<SO2TangentBase<Derived>>: Random specialization for SO2TangentBase objects.
template<typename _Scalar> struct traits<Eigen::Map<SO2Tangent<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<Eigen::Map<const SO2Tangent<_Scalar>, 0>>: traits specialization for Eigen Map const
template<typename _Scalar> struct traits<SO3<_Scalar>>: Traits specialization.
template<typename Derived> struct RandomEvaluatorImpl<SO3Base<Derived>>: Random specialization for SO3Base objects.
template<typename Derived> struct AssignmentEvaluatorImpl<SO3Base<Derived>>: Assignment assert specialization for SO3Base objects.
template<typename Derived, typename NewScalar> struct CastEvaluatorImpl<SO3Base<Derived>, NewScalar>: Cast specialization for SO3Base objects.
template<typename _Scalar> struct traits<Eigen::Map<SO3<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<Eigen::Map<const SO3<_Scalar>, 0>>: traits specialization for Eigen Map const
template<typename _Derived> struct LieGroupProperties<SO3Base<_Derived>>: traits specialization
template<typename _Derived> struct LieGroupProperties<SO3TangentBase<_Derived>>: traits specialization
template<typename _Scalar> struct traits<SO3Tangent<_Scalar>>: Traits specialization.
template<typename Derived> struct GeneratorEvaluator<SO3TangentBase<Derived>>: Generator specialization for SO3TangentBase objects.
template<typename Derived> struct RandomEvaluatorImpl<SO3TangentBase<Derived>>: Random specialization for SO3TangentBase objects.
template<typename _Scalar> struct traits<Eigen::Map<SO3Tangent<_Scalar>, 0>>: traits specialization for Eigen Map
template<typename _Scalar> struct traits<Eigen::Map<const SO3Tangent<_Scalar>, 0>>: traits specialization for Eigen Map const
template<typename T> struct constexpr_false
template<typename T> struct traits
template<typename T> struct traits<const T>
template<typename _LieGroupBase> struct LieGroupProperties: LieGroupProperties, a traits for defining some group properties. E.g. Space dimension, Degrees of Freedom ...
template<typename _Class, typename _NewScalar> struct traitscast: A traits helper to cast.
template<template<typename, template<typename> class...> class _Class, typename _Scalar, typename _NewScalar, template<typename> class ... Ts> struct traitscast<_Class<_Scalar, Ts...>, _NewScalar>: Traits to change the scalar type of a template class.
template<template<typename, unsigned int> class _Class, typename _NewScalar, typename _Scalar, unsigned int _Dim> struct traitscast<_Class<_Scalar, _Dim>, _NewScalar>: Specialization for Rn.
template<typename Scalar> struct is_ad: A traits for detecting AutoDiff scalar types.
template<class, typename T> struct has_rjacinv_impl: Has function 'rjacinv' traits.
template<typename T> struct has_rjacinv_impl<decltype(void(std::declval<T>().rjacinv())), T>
template<typename T> struct has_rjacinv
template<class, typename T> struct has_ljacinv_impl: Has function 'ljacinv' traits.
template<typename T> struct has_ljacinv_impl<decltype(void(std::declval<T>().ljacinv())), T>
template<typename T> struct has_ljacinv
template<int ... _I> struct intseq: intseq: std::integer_sequence-equivalent
template<typename _Seq1, typename _Seq2> struct intseq_join: concatenate two intseqs
template<template<int ...> class _IntSeq, int ... _I1, int ... _I2> struct intseq_join<_IntSeq<_I1...>, _IntSeq<_I2...>>
template<std::size_t _N> struct make_intseq: generate intseq 0, 1, ..., N-1
template<> struct make_intseq<0>
template<int N, int i, int j, int ... Args> struct compute_indices_gen
template<int i, int j, int ... Args> struct compute_indices_gen<1, i, j, Args...>
template<class, typename T> struct is_manif_group_impl
template<typename T> struct is_manif_group_impl<decltype(test_lie_group_base(std::declval<T>())), T>
template<typename T> struct is_manif_group
template<class, typename T> struct is_manif_tangent_impl
template<typename T> struct is_manif_tangent_impl<decltype(test_tangent_base(std::declval<T>())), T>
template<typename T> struct is_manif_tangent

Typedefs

using dual0thf = autodiff::HigherOrderDual<0, float>
using dual1stf = autodiff::HigherOrderDual<1, float>
using dual2ndf = autodiff::HigherOrderDual<2, float>
using dual3rdf = autodiff::HigherOrderDual<3, float>
using dual4thf = autodiff::HigherOrderDual<4, float>
template<std::size_t _N> using make_intseq_t = typename make_intseq<_N>::type

Functions

template<typename T> auto sqrtNewtonRaphson(T x, T curr, T prev) -> T constexpr
template<typename T> auto csqrt(T x) -> T constexpr
template<class Base, class Derived> auto is_base_of_v() -> bool constexpr
template<typename T> auto accumulate(T t) -> T constexpr
template<typename T, typename... Rest> auto accumulate(T t, Rest... rest) -> T constexpr
template<int... Args> auto compute_indices() -> std::array<int, sizeof...(Args)> constexpr: Compute indices given block-sizes.
template<typename Derived> void test_lie_group_base(LieGroupBase<Derived>&& s)
template<typename Derived> void test_tangent_base(TangentBase<Derived>&& s)