template class sophus::Manifold¶
Overview¶
Templated local parameterization for LieGroup [with implemented LieGroup::Dx_this_mul_exp_x_at_0() ]. More…
#include <manifold.h> template <template<class, int=0> class TLieGroup> class Manifold: public Manifold { public: // typedefs using LieGroupF64 = TLieGroup<double> ; using Tangent = typename LieGroupF64::Tangent ; using TangentMap = typename sophus::Mapper<Tangent>::Map ; using TangentConstMap = typename sophus::Mapper<Tangent>::ConstMap ; // fields static constexpr int kDoF = LieGroupF64::kDoF; static constexpr int kNumParameters = LieGroupF64::kNumParameters; // methods bool Plus(double const* t_raw, double const* delta_raw, double* t_plus_delta_raw) const; bool PlusJacobian(double const* t_raw, double* jacobian_raw) const; bool Minus( double const* y_raw, double const* x_raw, double* y_minus_x_raw ) const; bool MinusJacobian( double const* x_raw, double* jacobian_raw ) const; int AmbientSize() const; int TangentSize() const; };
Detailed Documentation¶
Templated local parameterization for LieGroup [with implemented LieGroup::Dx_this_mul_exp_x_at_0() ].
Methods¶
bool Plus( double const* t_raw, double const* delta_raw, double* t_plus_delta_raw ) const
LieGroup plus operation for Ceres.
T * exp(x)
bool PlusJacobian(double const* t_raw, double* jacobian_raw) const
Jacobian of LieGroup plus operation for Ceres.
Dx T * exp(x) with x=0