Struct sym::GroupOps

template<typename T>
struct GroupOps

C++ GroupOps concept, specialized per type. See symforce.ops.group_ops for details.

Public Types

using SelfJacobian = Eigen::Matrix<typename T::Scalar, LieGroupOps<T>::TangentDim(), LieGroupOps<T>::TangentDim()>

Public Static Functions

static T Identity()

static T Inverse(const T &a)

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

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

static T InverseWithJacobian(const T &a, SelfJacobian *const res_D_a)

static T ComposeWithJacobians(const T &a, const T &b, SelfJacobian *const res_D_a, SelfJacobian *const res_D_b)

static T BetweenWithJacobians(const T &a, const T &b, SelfJacobian *const res_D_a, SelfJacobian *const res_D_b)