template<typename _Derived>
manif::SO2TangentBase struct

The base class of the SO2 tangent.

Base classes

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 SO2.
auto exp(OptJacobianRef J_m_t = {}) const -> LieGroup
Get the SO2 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 SO2.
auto ljac() const -> Jacobian
Get the left Jacobian of SO2.
auto rjacinv() const -> Jacobian
Get the inverse of the right Jacobian of SO2.
auto ljacinv() const -> Jacobian
Get the inverse of the right Jacobian of SO2.
auto angle() const -> Scalar
Get the angle (rad.).
auto coeffs() -> DataType&
Access the underlying data by reference.
auto coeffs() const -> const DataType&
Access the underlying data by const reference.

Protected functions

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

Function documentation

template<typename _Derived>
LieAlg manif::SO2TangentBase<_Derived>::hat() const

Hat operator of SO2.

Returns An element of the Lie algebra so2 (skew-symmetric matrix).

template<typename _Derived>
LieGroup manif::SO2TangentBase<_Derived>::exp(OptJacobianRef J_m_t = {}) const

Get the SO2 element.

Returns The SO2 element.

template<typename _Derived>
Jacobian manif::SO2TangentBase<_Derived>::rjac() const

Get the right Jacobian of SO2.

template<typename _Derived>
Jacobian manif::SO2TangentBase<_Derived>::ljac() const

Get the left Jacobian of SO2.

template<typename _Derived>
Jacobian manif::SO2TangentBase<_Derived>::rjacinv() const

Get the inverse of the right Jacobian of SO2.

template<typename _Derived>
Jacobian manif::SO2TangentBase<_Derived>::ljacinv() const

Get the inverse of the right Jacobian of SO2.