C++ API

The following documentation presents the C++ API.

Class Hierarchy

• Namespace autodiff

  • Namespace autodiff::detail

    • Template Struct Dual

    • Template Struct VectorTraits< T, EnableIf< manif::internal::is_manif_group< T >::value > >

    • Template Struct VectorTraits< T, EnableIf< manif::internal::is_manif_tangent< T >::value > >

    • Template Class Real

• Namespace Eigen

  • Template Class Map< const manif::Bundle< _Scalar, T… >, 0 >

  • Template Class Map< const manif::BundleTangent< _Scalar, T… >, 0 >

  • Template Class Map< const manif::Rn< _Scalar, _N >, 0 >

  • Template Class Map< const manif::RnTangent< _Scalar, _N >, 0 >

  • Template Class Map< const manif::SE2< _Scalar >, 0 >

  • Template Class Map< const manif::SE2Tangent< _Scalar >, 0 >

  • Template Class Map< const manif::SE3< _Scalar >, 0 >

  • Template Class Map< const manif::SE3Tangent< _Scalar >, 0 >

  • Template Class Map< const manif::SE_2_3< _Scalar >, 0 >

  • Template Class Map< const manif::SE_2_3Tangent< _Scalar >, 0 >

  • Template Class Map< const manif::SGal3< _Scalar >, 0 >

  • Template Class Map< const manif::SGal3Tangent< _Scalar >, 0 >

  • Template Class Map< const manif::SO2< _Scalar >, 0 >

  • Template Class Map< const manif::SO2Tangent< _Scalar >, 0 >

  • Template Class Map< const manif::SO3< _Scalar >, 0 >

  • Template Class Map< const manif::SO3Tangent< _Scalar >, 0 >

  • Template Class Map< manif::Bundle< _Scalar, T… >, 0 >

  • Template Class Map< manif::BundleTangent< _Scalar, T… >, 0 >

  • Template Class Map< manif::Rn< _Scalar, _N >, 0 >

  • Template Class Map< manif::RnTangent< _Scalar, _N >, 0 >

  • Template Class Map< manif::SE2< _Scalar >, 0 >

  • Template Class Map< manif::SE2Tangent< _Scalar >, 0 >

  • Template Class Map< manif::SE3< _Scalar >, 0 >

  • Template Class Map< manif::SE3Tangent< _Scalar >, 0 >

  • Template Class Map< manif::SE_2_3< _Scalar >, 0 >

  • Template Class Map< manif::SE_2_3Tangent< _Scalar >, 0 >

  • Template Class Map< manif::SGal3< _Scalar >, 0 >

  • Template Class Map< manif::SGal3Tangent< _Scalar >, 0 >

  • Template Class Map< manif::SO2< _Scalar >, 0 >

  • Template Class Map< manif::SO2Tangent< _Scalar >, 0 >

  • Template Class Map< manif::SO3< _Scalar >, 0 >

  • Template Class Map< manif::SO3Tangent< _Scalar >, 0 >

• Namespace manif

  • Namespace manif::internal

    • Template Struct AssignmentEvaluator

    • Template Struct AssignmentEvaluatorImpl

    • Template Struct AssignmentEvaluatorImpl< SE2Base< Derived > >

    • Template Struct AssignmentEvaluatorImpl< SE3Base< Derived > >

    • Template Struct AssignmentEvaluatorImpl< SE_2_3Base< Derived > >

    • Template Struct AssignmentEvaluatorImpl< SGal3Base< Derived > >

    • Template Struct AssignmentEvaluatorImpl< SO2Base< Derived > >

    • Template Struct AssignmentEvaluatorImpl< SO3Base< Derived > >

    • Template Struct BracketEvaluator

    • Template Struct BracketEvaluatorImpl

    • Template Struct BracketEvaluatorImpl< RnTangentBase< Derived > >

    • Template Struct CastEvaluator

    • Template Struct CastEvaluatorImpl

    • Template Struct CastEvaluatorImpl< SE2Base< Derived >, NewScalar >

    • Template Struct CastEvaluatorImpl< SE3Base< Derived >, NewScalar >

    • Template Struct CastEvaluatorImpl< SE_2_3Base< Derived >, NewScalar >

    • Template Struct CastEvaluatorImpl< SGal3Base< Derived >, NewScalar >

    • Template Struct CastEvaluatorImpl< SO2Base< Derived >, NewScalar >

    • Template Struct CastEvaluatorImpl< SO3Base< Derived >, NewScalar >

    • Template Struct compute_indices_gen

    • Template Struct compute_indices_gen< 1, i, j, Args… >

    • Template Struct constexpr_false

    • Template Struct GeneratorEvaluator

    • Template Struct GeneratorEvaluator< BundleTangentBase< Derived > >

    • Template Struct GeneratorEvaluator< RnTangentBase< Derived > >

    • Template Struct GeneratorEvaluator< SE2TangentBase< Derived > >

    • Template Struct GeneratorEvaluator< SE3TangentBase< Derived > >

    • Template Struct GeneratorEvaluator< SE_2_3TangentBase< Derived > >

    • Template Struct GeneratorEvaluator< SGal3TangentBase< Derived > >

    • Template Struct GeneratorEvaluator< SO2TangentBase< Derived > >

    • Template Struct GeneratorEvaluator< SO3TangentBase< Derived > >

    • Template Struct has_ljacinv

    • Template Struct has_ljacinv_impl

    • Template Struct has_ljacinv_impl< decltype(void(std::declval< T >, ().ljacinv())), T >

    • Template Struct has_rjacinv

    • Template Struct has_rjacinv_impl

    • Template Struct has_rjacinv_impl< decltype(void(std::declval< T >, ().rjacinv())), T >

    • Template Struct InnerWeightsEvaluator

    • Template Struct InnerWeightsEvaluator< SE2TangentBase< Derived > >

    • Template Struct intseq

    • Template Struct intseq_join

    • Template Struct intseq_join< _IntSeq< _I1… >, _IntSeq< _I2… > >

    • Template Struct is_ad

    • Template Struct is_ad< autodiff::dual0th >

    • Template Struct is_ad< autodiff::dual1st >

    • Template Struct is_ad< autodiff::dual2nd >

    • Template Struct is_ad< autodiff::dual3rd >

    • Template Struct is_ad< autodiff::dual4th >

    • Template Struct is_ad< autodiff::Real< N, T > >

    • Template Struct is_ad< ceres::Jet< _Scalar, _N > >

    • Template Struct is_ad< dual0thf >

    • Template Struct is_ad< dual1stf >

    • Template Struct is_ad< dual2ndf >

    • Template Struct is_ad< dual3rdf >

    • Template Struct is_ad< dual4thf >

    • Template Struct is_manif_group

    • Template Struct is_manif_group_impl

    • Template Struct is_manif_group_impl< decltype(test_lie_group_base(std::declval< T >, ())), T >

    • Template Struct is_manif_tangent

    • Template Struct is_manif_tangent_impl

    • Template Struct is_manif_tangent_impl< decltype(test_tangent_base(std::declval< T >, ())), T >

    • Template Struct LieGroupProperties

    • Template Struct LieGroupProperties< BundleBase< _Derived > >

    • Template Struct LieGroupProperties< BundleTangentBase< _Derived > >

    • Template Struct LieGroupProperties< RnBase< _Derived > >

    • Template Struct LieGroupProperties< RnTangentBase< _Derived > >

    • Template Struct LieGroupProperties< SE2Base< _Derived > >

    • Template Struct LieGroupProperties< SE2TangentBase< _Derived > >

    • Template Struct LieGroupProperties< SE3Base< _Derived > >

    • Template Struct LieGroupProperties< SE3TangentBase< _Derived > >

    • Template Struct LieGroupProperties< SE_2_3Base< _Derived > >

    • Template Struct LieGroupProperties< SE_2_3TangentBase< _Derived > >

    • Template Struct LieGroupProperties< SGal3Base< _Derived > >

    • Template Struct LieGroupProperties< SGal3TangentBase< _Derived > >

    • Template Struct LieGroupProperties< SO2Base< _Derived > >

    • Template Struct LieGroupProperties< SO2TangentBase< _Derived > >

    • Template Struct LieGroupProperties< SO3Base< _Derived > >

    • Template Struct LieGroupProperties< SO3TangentBase< _Derived > >

    • Template Struct make_intseq

    • Template Struct make_intseq< 0 >

    • Template Struct RandomEvaluator

    • Template Struct RandomEvaluatorImpl

    • Template Struct RandomEvaluatorImpl< BundleBase< Derived > >

    • Template Struct RandomEvaluatorImpl< BundleTangentBase< Derived > >

    • Template Struct RandomEvaluatorImpl< RnBase< Derived > >

    • Template Struct RandomEvaluatorImpl< RnTangentBase< Derived > >

    • Template Struct RandomEvaluatorImpl< SE2Base< Derived > >

    • Template Struct RandomEvaluatorImpl< SE2TangentBase< Derived > >

    • Template Struct RandomEvaluatorImpl< SE3Base< Derived > >

    • Template Struct RandomEvaluatorImpl< SE3TangentBase< Derived > >

    • Template Struct RandomEvaluatorImpl< SE_2_3Base< Derived > >

    • Template Struct RandomEvaluatorImpl< SE_2_3TangentBase< Derived > >

    • Template Struct RandomEvaluatorImpl< SGal3Base< Derived > >

    • Template Struct RandomEvaluatorImpl< SGal3TangentBase< Derived > >

    • Template Struct RandomEvaluatorImpl< SO2Base< Derived > >

    • Template Struct RandomEvaluatorImpl< SO2TangentBase< Derived > >

    • Template Struct RandomEvaluatorImpl< SO3Base< Derived > >

    • Template Struct RandomEvaluatorImpl< SO3TangentBase< Derived > >

    • Template Struct traits

    • Template Struct traits< Bundle< _Scalar, _T … > >

    • Template Struct traits< BundleTangent< _Scalar, _T… > >

    • Template Struct traits< const T >

    • Template Struct traits< Eigen::Map< Bundle< _Scalar, T… >, 0 > >

    • Template Struct traits< Eigen::Map< BundleTangent< _Scalar, T… >, 0 > >

    • Template Struct traits< Eigen::Map< const Bundle< _Scalar, T… >, 0 > >

    • Template Struct traits< Eigen::Map< const BundleTangent< _Scalar, T… >, 0 > >

    • Template Struct traits< Eigen::Map< const Rn< _Scalar, _N >, 0 > >

    • Template Struct traits< Eigen::Map< const RnTangent< _Scalar, _N >, 0 > >

    • Template Struct traits< Eigen::Map< const SE2< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< const SE2Tangent< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< const SE3< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< const SE3Tangent< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< const SE_2_3< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< const SE_2_3Tangent< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< const SGal3< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< const SGal3Tangent< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< const SO2< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< const SO2Tangent< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< const SO3< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< const SO3Tangent< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< Rn< _Scalar, _N >, 0 > >

    • Template Struct traits< Eigen::Map< RnTangent< _Scalar, _N >, 0 > >

    • Template Struct traits< Eigen::Map< SE2< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< SE2Tangent< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< SE3< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< SE3Tangent< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< SE_2_3< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< SE_2_3Tangent< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< SGal3< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< SGal3Tangent< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< SO2< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< SO2Tangent< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< SO3< _Scalar >, 0 > >

    • Template Struct traits< Eigen::Map< SO3Tangent< _Scalar >, 0 > >

    • Template Struct traits< Rn< _Scalar, _N > >

    • Template Struct traits< RnTangent< _Scalar, _N > >

    • Template Struct traits< SE2< _Scalar > >

    • Template Struct traits< SE2Tangent< _Scalar > >

    • Template Struct traits< SE3< _Scalar > >

    • Template Struct traits< SE3Tangent< _Scalar > >

    • Template Struct traits< SE_2_3< _Scalar > >

    • Template Struct traits< SE_2_3Tangent< _Scalar > >

    • Template Struct traits< SGal3< _Scalar > >

    • Template Struct traits< SGal3Tangent< _Scalar > >

    • Template Struct traits< SO2< _Scalar > >

    • Template Struct traits< SO2Tangent< _Scalar > >

    • Template Struct traits< SO3< _Scalar > >

    • Template Struct traits< SO3Tangent< _Scalar > >

    • Template Struct traitscast

    • Template Struct traitscast< _Class< _Scalar, _Dim >, _NewScalar >

    • Template Struct traitscast< _Class< _Scalar, Ts… >, _NewScalar >

    • Template Struct traitscast< Eigen::Matrix< _Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols >, NewScalar >

    • Template Struct VeeEvaluator

    • Template Struct VeeEvaluatorImpl

    • Template Struct VeeEvaluatorImpl< BundleTangentBase< Derived > >

    • Template Struct VeeEvaluatorImpl< RnTangentBase< Derived > >

    • Template Struct VeeEvaluatorImpl< SE2TangentBase< Derived > >

    • Template Struct VeeEvaluatorImpl< SE3TangentBase< Derived > >

    • Template Struct VeeEvaluatorImpl< SE_2_3TangentBase< Derived > >

    • Template Struct VeeEvaluatorImpl< SGal3TangentBase< Derived > >

    • Template Struct VeeEvaluatorImpl< SO2TangentBase< Derived > >

    • Template Struct VeeEvaluatorImpl< SO3TangentBase< Derived > >

    • Struct YOU_MUST_INCLUDE_MANIF_BEFORE_CERES_HELPER_HEADERS

  • Template Struct Bundle

  • Template Struct BundleBase

  • Template Struct BundleTangent

  • Template Struct BundleTangentBase

  • Template Struct Constants

  • Template Struct Constants< autodiff::detail::Dual< Scalar, G > >

  • Template Struct Constants< autodiff::detail::Real< N, T > >

  • Template Struct Constants< ceres::Jet< _Scalar, N > >

  • Struct invalid_argument

  • Template Struct LieGroupBase

  • Template Struct Rn

  • Template Struct RnBase

  • Template Struct RnTangent

  • Template Struct RnTangentBase

  • Struct runtime_error

  • Template Struct SE2

  • Template Struct SE2Base

  • Template Struct SE2Tangent

  • Template Struct SE2TangentBase

  • Template Struct SE3

  • Template Struct SE3Base

  • Template Struct SE3Tangent

  • Template Struct SE3TangentBase

  • Template Struct SE_2_3

  • Template Struct SE_2_3Base

  • Template Struct SE_2_3Tangent

  • Template Struct SE_2_3TangentBase

  • Template Struct SGal3

  • Template Struct SGal3Base

  • Template Struct SGal3Tangent

  • Template Struct SGal3TangentBase

  • Template Struct SO2

  • Template Struct SO2Base

  • Template Struct SO2Tangent

  • Template Struct SO2TangentBase

  • Template Struct SO3

  • Template Struct SO3Base

  • Template Struct SO3Tangent

  • Template Struct SO3TangentBase

  • Template Struct TangentBase

  • Template Class CeresConstraintFunctor

  • Template Class CeresLocalParameterizationFunctor

  • Template Class CeresManifoldFunctor

  • Template Class CeresObjectiveFunctor

  • Enum INTERP_METHOD

File Hierarchy

• Directory manif

  • Directory algorithms

    • File average.h

    • File bezier.h

    • File decasteljau.h

    • File interpolation.h

  • Directory autodiff

    • File autodiff.h

    • File constants.h

    • File local_parameterization.h

  • Directory ceres

    • File ceres.h

    • File ceres_utils.h

    • File constants.h

    • File constraint.h

    • File local_parametrization.h

    • File manifold.h

    • File objective.h

  • Directory impl

    • Directory bundle

      • File Bundle.h

      • File Bundle_base.h

      • File Bundle_map.h

      • File Bundle_properties.h

      • File BundleTangent.h

      • File BundleTangent_base.h

      • File BundleTangent_map.h

    • Directory rn

      • File Rn.h

      • File Rn_base.h

      • File Rn_map.h

      • File Rn_properties.h

      • File RnTangent.h

      • File RnTangent_base.h

      • File RnTangent_map.h

    • Directory se2

      • File SE2.h

      • File SE2_base.h

      • File SE2_map.h

      • File SE2_properties.h

      • File SE2Tangent.h

      • File SE2Tangent_base.h

      • File SE2Tangent_map.h

    • Directory se3

      • File SE3.h

      • File SE3_base.h

      • File SE3_map.h

      • File SE3_properties.h

      • File SE3Tangent.h

      • File SE3Tangent_base.h

      • File SE3Tangent_map.h

    • Directory se_2_3

      • File SE_2_3.h

      • File SE_2_3_base.h

      • File SE_2_3_map.h

      • File SE_2_3_properties.h

      • File SE_2_3Tangent.h

      • File SE_2_3Tangent_base.h

      • File SE_2_3Tangent_map.h

    • Directory sgal3

      • File SGal3.h

      • File SGal3_base.h

      • File SGal3_map.h

      • File SGal3_properties.h

      • File SGal3Tangent.h

      • File SGal3Tangent_base.h

      • File SGal3Tangent_map.h

    • Directory so2

      • File SO2.h

      • File SO2_base.h

      • File SO2_map.h

      • File SO2_properties.h

      • File SO2Tangent.h

      • File SO2Tangent_base.h

      • File SO2Tangent_map.h

    • Directory so3

      • File SO3.h

      • File SO3_base.h

      • File SO3_map.h

      • File SO3_properties.h

      • File SO3Tangent.h

      • File SO3Tangent_base.h

      • File SO3Tangent_map.h

    • File assignment_assert.h

    • File bracket.h

    • File cast.h

    • File eigen.h

    • File generator.h

    • File lie_group_base.h

    • File macro.h

    • File random.h

    • File tangent_base.h

    • File traits.h

    • File utils.h

    • File vee.h

  • File Bundle.h

  • File constants.h

  • File functions.h

  • File manif.h

  • File Rn.h

  • File SE2.h

  • File SE3.h

  • File SE_2_3.h

  • File SGal3.h

  • File SO2.h

  • File SO3.h