Namespace sym::scalar

namespace scalar

template<typename T>
struct GroupOps

#include <group_ops.h>

C++ GroupOps implementation for scalars.

Public Types

using Scalar = T

Public Static Functions

static inline T Identity()

static inline T Inverse(const T &a)

static inline T Compose(const T &a, const T &b)

static inline T Between(const T &a, const T &b)

template<typename T>
struct LieGroupOps : public sym::internal::LieGroupOpsBase<T, T>

#include <lie_group_ops.h>

C++ LieGroupOps implementation for scalars.

Subclassed by sym::LieGroupOps< double >, sym::LieGroupOps< float >

Public Types

using Scalar = T

using TangentVec = Eigen::Matrix<T, 1, 1>

Public Static Functions

static inline constexpr int32_t TangentDim()

static inline T FromTangent(const TangentVec &vec, const T epsilon)

static inline TangentVec ToTangent(const T &a, const T epsilon)

static inline T Retract(const T &a, const TangentVec &vec, const T epsilon)

static inline TangentVec LocalCoordinates(const T &a, const T &b, const T epsilon)

static inline T Interpolate(const T &a, const T &b, const T alpha, const T epsilon)

template<typename ScalarType>
struct StorageOps

#include <storage_ops.h>

C++ StorageOps implementation for scalars.

Subclassed by sym::StorageOps< double >, sym::StorageOps< float >

Public Types

using Scalar = ScalarType

Public Static Functions

static inline constexpr int32_t StorageDim()

static inline void ToStorage(const ScalarType &a, ScalarType *out)

static inline ScalarType FromStorage(const ScalarType *data)

static inline constexpr type_t TypeEnum()

template<typename Generator>
static inline Scalar Random(Generator &gen)