Struct sym::LieGroupOps< Eigen::Matrix< ScalarType, Rows, Cols > >

template<typename ScalarType, int Rows, int Cols>
struct LieGroupOps<Eigen::Matrix<ScalarType, Rows, Cols>> : public sym::internal::LieGroupOpsBase<Eigen::Matrix<ScalarType, Rows, Cols>, ScalarType>

C++ LieGroupOps implementation for matrices.

Public Types

using Scalar = ScalarType

using T = Eigen::Matrix<Scalar, Rows, Cols>

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

Public Static Functions

static inline constexpr int32_t TangentDim()

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

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

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

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

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