template<typename _Derived>

manif::BundleTangentBase struct

Base classes

template<class _Derived>

struct TangentBase<_Derived>

Base class for Lie groups' tangents. 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>

Public static variables

static std::size_t BundleSize constexpr

Number of elements in the BundleTangent.

Public functions

auto hat() const -> LieAlg

Hat operator.

auto exp(OptJacobianRef J_m_t = {}) const -> LieGroup

Exponential operator.

auto retract(OptJacobianRef J_m_t = {}) const -> MANIF_DEPRECATED LieGroup

This function is deprecated. Please considere using exp instead.

auto rjac() const -> Jacobian

Get the right Jacobian.

auto ljac() const -> Jacobian

Get the left Jacobian.

auto rjacinv() const -> Jacobian

Get the inverse of the right Jacobian.

auto ljacinv() const -> Jacobian

Get the inverse of the left Jacobian.

auto smallAdj() const -> Jacobian

template<int _Idx>

auto element() -> MapElement<_Idx>

Access BundleTangent element as Map.

template<int _Idx>

auto element() const -> MapConstElement<_Idx>

Access BundleTangent element as Map to const.

template<int _Idx>

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

template<int _Idx>

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

auto data() -> Scalar*

Access the underlying data by pointer.

auto data() const -> const Scalar*

Access the underlying data by const pointer.

auto coeffs() -> DataType&

Access the underlying data by reference.

auto coeffs() const -> const DataType&

Access the underlying data by const reference.

Protected functions

template<int ... _Idx>

auto hat_impl(internal::intseq<_Idx...>) const -> LieAlg

template<int ... _Idx>

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

template<int ... _Idx>

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

template<int ... _Idx>

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

template<int ... _Idx>

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

template<int ... _Idx>

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

template<int ... _Idx>

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

auto derived() & -> _Derived& noexcept

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

Function documentation