Trait rtsam::core::group::LieGroup

pub trait LieGroup<N>: Debug + Sized + Copy where
    Self: Mul<Self, Output = Self>,
    Self: for<'a> Mul<&'a Self, Output = Self>,
    &'a Self: Mul<Self, Output = Self>,
    &'a Self: Mul<&'b Self, Output = Self>,
    Self: AbstractSemigroup<Multiplicative>,
    N: Scalar + Zero + One,
    Self: Manifold, {
    type D: DimName;
    fn between(&self, g: &Self) -> Self;
    fn adjoint_map(&self) -> MatrixN<N, Self::D>
    where
        DefaultAllocator: Allocator<N, Self::D, Self::D>;
    fn logmap(
        R: &Self, 
        H: Option<&mut MatrixN<N, Self::D>>
    ) -> VectorN<N, Self::D>
    where
        DefaultAllocator: Allocator<N, Self::D> + Allocator<N, Self::D, Self::D>;
    fn expmap(omega: &VectorN<N, Self::D>) -> Self
    where
        DefaultAllocator: Allocator<N, Self::D>;
    fn expmap_with_derivative(
        omega: &VectorN<N, Self::D>, 
        H: Option<&mut MatrixN<N, Self::D>>
    ) -> Self
    where
        DefaultAllocator: Allocator<N, Self::D> + Allocator<N, Self::D, Self::D>;

    fn compose(&self, g: &Self) -> Self { ... }
}

Associated Types

type D: DimName

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Required methods

fn between(&self, g: &Self) -> Self

fn adjoint_map(&self) -> MatrixN<N, Self::D> where
    DefaultAllocator: Allocator<N, Self::D, Self::D>, 

fn logmap(R: &Self, H: Option<&mut MatrixN<N, Self::D>>) -> VectorN<N, Self::D> where
    DefaultAllocator: Allocator<N, Self::D> + Allocator<N, Self::D, Self::D>, 

fn expmap(omega: &VectorN<N, Self::D>) -> Self where
    DefaultAllocator: Allocator<N, Self::D>, 

fn expmap_with_derivative(
    omega: &VectorN<N, Self::D>,
    H: Option<&mut MatrixN<N, Self::D>>
) -> Self where
    DefaultAllocator: Allocator<N, Self::D> + Allocator<N, Self::D, Self::D>, 

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Provided methods

fn compose(&self, g: &Self) -> Self

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Implementors

impl LieGroup<f64> for SE3<f64>

type D = U6

fn between(&self, g: &Self) -> Self

fn adjoint_map(&self) -> MatrixN<f64, U6>

fn logmap(P: &Self, optionalH: Option<&mut Matrix6<f64>>) -> Vector6<f64>

fn expmap(xi: &Vector6<f64>) -> Self

fn expmap_with_derivative(
    xi: &Vector6<f64>,
    optionalH: Option<&mut Matrix6<f64>>
) -> Self

Modified from Murray94book version (which assumes w and v normalized?)

fn compose(&self, g: &Self) -> Self

impl LieGroup<f64> for SO3<f64>

type D = U3

fn between(&self, g: &Self) -> Self

fn adjoint_map(&self) -> MatrixN<f64, U3>

fn logmap(R: &Self, optionalH: Option<&mut Matrix3<f64>>) -> Vector3<f64>

fn expmap(omega: &Vector3<f64>) -> Self

fn expmap_with_derivative(
    omega: &Vector3<f64>,
    optionalH: Option<&mut Matrix3<f64>>
) -> Self

fn compose(&self, g: &Self) -> Self

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