Trait rtsam::core::manifold::Manifold

pub trait Manifold {
    type TangentVector;
    fn local(origin: &Self, other: &Self) -> Self::TangentVector;
    fn retract(origin: &Self, v: &Self::TangentVector) -> Self;
}

Associated Types

type TangentVector

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Required methods

fn local(origin: &Self, other: &Self) -> Self::TangentVector

fn retract(origin: &Self, v: &Self::TangentVector) -> Self

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Implementors

impl Manifold for SE3<f64>

type TangentVector = Vector6<f64>

fn local(origin: &Self, other: &Self) -> Self::TangentVector

fn retract(origin: &Self, v: &Self::TangentVector) -> Self

impl Manifold for SO3<f64>

type TangentVector = Vector3<f64>

fn local(origin: &Self, other: &Self) -> Self::TangentVector

fn retract(origin: &Self, v: &Self::TangentVector) -> Self

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