template<typename _Derived>
manif::RnTangentBase struct

The base class of the R^n tangent.

Base classes

template<class _Derived> struct TangentBase<_Derived>: Base class for Lie groups' tangents. Defines the minimum common API.

auto hat() const -> LieAlg: Hat operator of Rn.
auto exp(OptJacobianRef J_m_t = {}) const -> LieGroup: Get the Rn element.
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 of Rn.
auto ljac() const -> Jacobian: Get the left Jacobian of Rn.
auto rjacinv() const -> Jacobian: Get the inverse of the right Jacobian of Rn.
auto ljacinv() const -> Jacobian: Get the inverse of the left Jacobian of Rn.
auto coeffs() -> DataType&: Access the underlying data by reference.
auto coeffs() const -> const DataType&: Access the underlying data by const reference.

Hat operator of Rn.

Returns	An element of the Lie algebra rn.

Get the Rn element.

Returns	The Rn element.

Get the right Jacobian of Rn.

Get the left Jacobian of Rn.

Get the inverse of the right Jacobian of Rn.

Get the inverse of the left Jacobian of Rn.