sophus::ProductManifold< TSubManifold > Class Template Reference

#include <product_manifold.h>

Public Types
using	Self = ProductManifold< TSubManifold... >
using	Tuple = std::tuple< TSubManifold... >
using	Scalars = std::tuple< typename TSubManifold::Scalar... >
using	Scalar = typename std::tuple_element< 0, Scalars >::type
using	Tangent = Eigen::Vector< Scalar, kDof >

Public Member Functions
	ProductManifold ()=default
	ProductManifold (ProductManifold const &)=default
ProductManifold &	operator= (ProductManifold const &)=default
	ProductManifold (TSubManifold const &... manifolds)
template<size_t i>
auto &	subManifold ()
template<size_t i>
auto const &	subManifold () const
auto	oplus (Tangent const &tangent) const -> Self
auto	ominus (Self const &other) const -> Tangent

Static Public Member Functions
template<size_t i, class Derived >
static auto	subBlock (Eigen::MatrixBase< Derived > const &mat)
static auto	tangentExamples () -> std::vector< Tangent >
template<size_t kArrayLen>
static std::optional< ProductManifold< TSubManifold... > >	average (std::array< ProductManifold< TSubManifold... >, kArrayLen > const &range)

Static Public Attributes
static constexpr size_t	kNumManifolds = sizeof...(TSubManifold)
static constexpr std::array< int, kNumManifolds >	kManifoldSizes
static constexpr std::array< int, kNumManifolds+1 >	kManifoldStarts
static constexpr size_t	kNumParams
static constexpr size_t	kDof

Member Typedef Documentation

Scalar

template<concepts::Manifold... TSubManifold>

using sophus::ProductManifold< TSubManifold >::Scalar = typename std::tuple_element<0, Scalars>::type

Scalars

template<concepts::Manifold... TSubManifold>

using sophus::ProductManifold< TSubManifold >::Scalars = std::tuple<typename TSubManifold::Scalar...>

Self

template<concepts::Manifold... TSubManifold>

using sophus::ProductManifold< TSubManifold >::Self = ProductManifold<TSubManifold...>

Tangent

template<concepts::Manifold... TSubManifold>

using sophus::ProductManifold< TSubManifold >::Tangent = Eigen::Vector<Scalar, kDof>

Tuple

template<concepts::Manifold... TSubManifold>

using sophus::ProductManifold< TSubManifold >::Tuple = std::tuple<TSubManifold...>

Constructor & Destructor Documentation

ProductManifold() [1/3]

template<concepts::Manifold... TSubManifold>

sophus::ProductManifold< TSubManifold >::ProductManifold ( )

default

ProductManifold() [2/3]

template<concepts::Manifold... TSubManifold>

sophus::ProductManifold< TSubManifold >::ProductManifold ( ProductManifold< TSubManifold > const &  )

default

ProductManifold() [3/3]

template<concepts::Manifold... TSubManifold>

sophus::ProductManifold< TSubManifold >::ProductManifold ( TSubManifold const &...  manifolds )

inline

Member Function Documentation

average()

template<concepts::Manifold... TSubManifold>

template<size_t kArrayLen>

static std::optional<ProductManifold<TSubManifold...> > sophus::ProductManifold< TSubManifold >::average ( std::array< ProductManifold< TSubManifold... >, kArrayLen > const &  range )

inlinestatic

ominus()

template<concepts::Manifold... TSubManifold>

auto sophus::ProductManifold< TSubManifold >::ominus ( Self const &  other ) const -> Tangent

inline

operator=()

template<concepts::Manifold... TSubManifold>

ProductManifold& sophus::ProductManifold< TSubManifold >::operator= ( ProductManifold< TSubManifold > const &  )

default

oplus()

template<concepts::Manifold... TSubManifold>

auto sophus::ProductManifold< TSubManifold >::oplus ( Tangent const &  tangent ) const -> Self

inline

subBlock()

template<concepts::Manifold... TSubManifold>

template<size_t i, class Derived >

static auto sophus::ProductManifold< TSubManifold >::subBlock ( Eigen::MatrixBase< Derived > const &  mat )

inlinestatic

subManifold() [1/2]

template<concepts::Manifold... TSubManifold>

template<size_t i>

auto& sophus::ProductManifold< TSubManifold >::subManifold ( )

inline

subManifold() [2/2]

template<concepts::Manifold... TSubManifold>

template<size_t i>

auto const& sophus::ProductManifold< TSubManifold >::subManifold ( ) const

inline

tangentExamples()

template<concepts::Manifold... TSubManifold>

static auto sophus::ProductManifold< TSubManifold >::tangentExamples ( ) -> std::vector<Tangent>

inlinestatic

Member Data Documentation

kDof

template<concepts::Manifold... TSubManifold>

constexpr size_t sophus::ProductManifold< TSubManifold >::kDof

staticconstexpr

Initial value:

= [](auto const&... sizes) {
    size_t sum = 0;
    (..., (sum += sizes));
    return sum;
  }(TSubManifold::kDof...)

kManifoldSizes

template<concepts::Manifold... TSubManifold>

constexpr std::array<int, kNumManifolds> sophus::ProductManifold< TSubManifold >::kManifoldSizes

staticconstexpr

Initial value:

= {
      {TSubManifold::kDof...}}

kManifoldStarts

template<concepts::Manifold... TSubManifold>

constexpr std::array<int, kNumManifolds + 1> sophus::ProductManifold< TSubManifold >::kManifoldStarts

staticconstexpr

Initial value:

=
      cumulativeSum<0, TSubManifold::kDof...>()

kNumManifolds

template<concepts::Manifold... TSubManifold>

constexpr size_t sophus::ProductManifold< TSubManifold >::kNumManifolds = sizeof...(TSubManifold)

staticconstexpr

kNumParams

template<concepts::Manifold... TSubManifold>

constexpr size_t sophus::ProductManifold< TSubManifold >::kNumParams

staticconstexpr

Initial value:

= [](auto const&... sizes) {
    size_t sum = 0;
    (..., (sum += sizes));
    return sum;
  }(TSubManifold::kNumParams...)

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The documentation for this class was generated from the following file:

• projects/farm-ng-core/cpp/sophus/manifold/product_manifold.h