template<typename _Derived>

manif::BundleBase struct

Base classes

template<class _Derived>

struct LieGroupBase<_Derived>

Base class for Lie groups. Defines the minimum common API.

Public types

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

template<int Idx>

using Element = typename internal::traits<_Derived>::template Element<Idx>

template<int Idx>

using MapElement = typename internal::traits<_Derived>::template MapElement<Idx>

template<int Idx>

using MapConstElement = typename internal::traits<_Derived>::template MapConstElement<Idx>

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

Public static variables

static std::size_t BundleSize constexpr

Number of elements in bundle.

Public functions

auto inverse(OptJacobianRef J_minv_m = {}) const -> LieGroup

Get the inverse of this.

auto log(OptJacobianRef J_t_m = {}) const -> Tangent

Get the corresponding Lie algebra element.

auto lift(OptJacobianRef J_t_m = {}) const -> MANIF_DEPRECATED Tangent

This function is deprecated. Please consider using log instead.

template<typename _DerivedOther>

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

Composition of this and another Bundle element.

auto act(const Vector& 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 -> Vector

Bundle group action.

auto adj() const -> Jacobian

Get the adjoint matrix at this.

auto transform() const -> Transformation

Get the element-diagonal transformation matrix.

template<int _Idx>

auto element() -> MapElement<_Idx>

Access Bundle element as Map.

template<int _Idx>

auto element() const -> MapConstElement<_Idx>

Access Bundle element as Map to const.

template<int ... _Idx>

auto act_impl(const typename BundleBase<_Derived>::Vector& 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, internal::intseq<_Idx...>) const -> BundleBase<_Derived>::Vector

template<int _Idx>

auto element() -> MapElement< _Idx > -> auto

template<int _Idx>

auto element() const -> MapConstElement< _Idx > -> auto

auto coeffs() -> DataType&

Access the underlying data by const reference.

auto coeffs() const -> const DataType&

Access the underlying data by const reference.

Protected functions

template<int ... _Idx>

auto inverse_impl(OptJacobianRef, internal::intseq<_Idx...>) const -> LieGroup

template<int ... _Idx>

auto log_impl(OptJacobianRef, internal::intseq<_Idx...>) const -> Tangent

template<typename _DerivedOther, int ... _Idx>

auto compose_impl(const LieGroupBase<_DerivedOther>& m, OptJacobianRef J_mc_ma, OptJacobianRef J_mc_mb, internal::intseq<_Idx...>) const -> LieGroup

template<int ... _Idx>

auto act_impl(const Vector& 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, internal::intseq<_Idx...>) const -> Vector

template<int ... _Idx>

auto adj_impl(internal::intseq<_Idx...>) const -> Jacobian

template<int ... _Idx>

auto transform_impl(internal::intseq<_Idx...>) const -> Transformation

auto derived() & -> _Derived& noexcept

auto derived() const & -> const _Derived& noexcept

Function documentation