Struct sym::LieGroupOps< Unit3< Scalar > >

template<typename Scalar>
struct LieGroupOps<Unit3<Scalar>> : public sym::internal::LieGroupOpsBase<Unit3<Scalar>, Scalar>

C++ LieGroupOps implementation for <class ‘symforce.geo.unit3.Unit3’>.

Public Types

using T = Unit3<Scalar>

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

Public Static Functions

static inline 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)