Struct sym::scalar::LieGroupOps

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

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)