Struct sym::LieGroupOps

template<typename T>
struct LieGroupOps

C++ LieGroupOps concept, specialized per type. See symforce.ops.lie_group_ops for details.

Public Types

using Scalar = typename T::Scalar

using TangentVec = Eigen::Matrix<Scalar, TangentDim(), 1>

Public Static Functions

static constexpr int32_t TangentDim()

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

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

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

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

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

static bool IsClose(const T &a, const T &b, const Scalar epsilon, const Scalar tol)