sophus::ceres::Manifold< TLieGroup > Class Template Reference

Templated local parameterization for LieGroup [with implemented LieGroup::Dx_this_mul_exp_x_at_0() ]. More...

#include <manifold.h>

Inheritance diagram for sophus::ceres::Manifold< TLieGroup >:

Collaboration diagram for sophus::ceres::Manifold< TLieGroup >:

Public Types
using	LieGroupF64 = TLieGroup< double >
using	Tangent = Eigen::Vector< double, kDof >
using	Params = Eigen::Vector< double, kNumParams >

Public Member Functions
bool	Plus (double const *t_raw, double const *delta_raw, double *t_plus_delta_raw) const override
	LieGroup plus operation for Ceres. More...
bool	PlusJacobian (double const *t_raw, double *jacobian_raw) const override
	Jacobian of LieGroup plus operation for Ceres. More...
bool	Minus (double const *y_raw, double const *x_raw, double *y_minus_x_raw) const override
bool	MinusJacobian (double const *x_raw, double *jacobian_raw) const override
int	AmbientSize () const override
int	TangentSize () const override

Static Public Attributes
static constexpr int	kDof = LieGroupF64::kDof
static constexpr int	kNumParams = LieGroupF64::kNumParams

Detailed Description

template<template< class > class TLieGroup>
class sophus::ceres::Manifold< TLieGroup >

Templated local parameterization for LieGroup [with implemented LieGroup::Dx_this_mul_exp_x_at_0() ].

Member Typedef Documentation

LieGroupF64

template<template< class > class TLieGroup>

using sophus::ceres::Manifold< TLieGroup >::LieGroupF64 = TLieGroup<double>

Params

template<template< class > class TLieGroup>

using sophus::ceres::Manifold< TLieGroup >::Params = Eigen::Vector<double, kNumParams>

Tangent

template<template< class > class TLieGroup>

using sophus::ceres::Manifold< TLieGroup >::Tangent = Eigen::Vector<double, kDof>

Member Function Documentation

AmbientSize()

template<template< class > class TLieGroup>

int sophus::ceres::Manifold< TLieGroup >::AmbientSize ( ) const

inlineoverride

Minus()

template<template< class > class TLieGroup>

bool sophus::ceres::Manifold< TLieGroup >::Minus ( double const *  y_raw, double const *  x_raw, double *  y_minus_x_raw  ) const

inlineoverride

MinusJacobian()

template<template< class > class TLieGroup>

bool sophus::ceres::Manifold< TLieGroup >::MinusJacobian ( double const *  x_raw, double *  jacobian_raw  ) const

inlineoverride

Plus()

template<template< class > class TLieGroup>

bool sophus::ceres::Manifold< TLieGroup >::Plus ( double const *  t_raw, double const *  delta_raw, double *  t_plus_delta_raw  ) const

inlineoverride

LieGroup plus operation for Ceres.

T * exp(x)

PlusJacobian()

template<template< class > class TLieGroup>

bool sophus::ceres::Manifold< TLieGroup >::PlusJacobian ( double const *  t_raw, double *  jacobian_raw  ) const

inlineoverride

Jacobian of LieGroup plus operation for Ceres.

Dx T * exp(x) with x=0

TangentSize()

template<template< class > class TLieGroup>

int sophus::ceres::Manifold< TLieGroup >::TangentSize ( ) const

inlineoverride

Member Data Documentation

kDof

template<template< class > class TLieGroup>

constexpr int sophus::ceres::Manifold< TLieGroup >::kDof = LieGroupF64::kDof

staticconstexpr

kNumParams

template<template< class > class TLieGroup>

constexpr int sophus::ceres::Manifold< TLieGroup >::kNumParams = LieGroupF64::kNumParams

staticconstexpr

---

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

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