template<typename _Derived>
SE2TangentBase struct
The base class of the SE2 tangent.
Base classes
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template<class _Derived>struct TangentBase<_Derived>
- Base class for Lie groups' tangents. Defines the minimum common API.
Public functions
- auto hat() const -> LieAlg
- Hat operator of SE2.
- auto exp(OptJacobianRef J_m_t = {}) const -> LieGroup
- Get the SE2 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 SE2.
- auto rjacinv() const -> Jacobian
- Get the inverse right Jacobian of SE2.
- auto ljac() const -> Jacobian
- Get the left Jacobian of SE2.
- auto ljacinv() const -> Jacobian
- Get the inverse left Jacobian of SE2.
- auto x() const -> Scalar
- Get the x component of the translational part.
- auto y() const -> Scalar
- Get the y component of the translational part.
- auto angle() const -> Scalar
- Get the rotational part.
- 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.