Manifold.h File Reference

Base class and basic functions for Manifold types. More...

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Classes
struct	gtsam::manifold_tag
	tag to assert a type is a manifold More...
struct	gtsam::traits< T >
	A manifold defines a space in which there is a notion of a linear tangent space that can be centered around a given point on the manifold. More...
struct	gtsam::internal::HasManifoldPrereqs< Class >
	Requirements on type to pass it to Manifold template below. More...
struct	gtsam::internal::ManifoldImpl< Class, N >
	Extra manifold traits for fixed-dimension types. More...
struct	gtsam::internal::ManifoldImpl< Class, Eigen::Dynamic >
	Extra manifold traits for variable-dimension types. More...
struct	gtsam::internal::ManifoldTraits< Class >
	A helper that implements the traits interface for GTSAM manifolds. More...
struct	gtsam::internal::Manifold< Class >
	Both ManifoldTraits and Testable. More...
struct	gtsam::FixedDimension< T >
	Give fixed size dimension of a type, fails at compile time if dynamic. More...
class	gtsam::ProductManifold< M1, M2 >
	Helper class to construct the product manifold of two other manifolds, M1 and M2 Assumes nothing except manifold structure for M1 and M2, and the existence of default constructor for those types. More...
struct	gtsam::traits< ProductManifold< M1, M2 > >

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Macros
#define	GTSAM_CONCEPT_MANIFOLD_INST(T)   template class gtsam::IsManifold<T>;
	Macros for using the ManifoldConcept. More...
#define	GTSAM_CONCEPT_MANIFOLD_TYPE(T)   typedef gtsam::IsManifold<T> _gtsam_IsManifold_##T;

Functions
template<typename T >
	gtsam::BOOST_CONCEPT_REQUIRES (((IsTestable< T >)),(bool)) check_manifold_invariants(const T &a
	Check invariants for Manifold type.

Detailed Description

Base class and basic functions for Manifold types.

Author

Alex Cunningham

Frank Dellaert

Mike Bosse

Macro Definition Documentation

#define GTSAM_CONCEPT_MANIFOLD_INST

(

T

)

template class gtsam::IsManifold<T>;

Macros for using the ManifoldConcept.

• An instantiation for use inside unit tests
• A typedef for use inside generic algorithms

NOTE: intentionally not in the gtsam namespace to allow for classes not in the gtsam namespace to be more easily enforced as testable