typo
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commit
1f095f2655
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@ -96,7 +96,7 @@ Lie Group
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A Lie group is both a manifold *and* a group. Hence, a LIE_GROUP type should implements both MANIFOLD and GROUP concepts.
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However, we now also need to be able to evaluate the derivatives of compose and inverse.
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Hence, we have the following extra valid static functions defined in the struct `gtsam::manifold::traits<T>`:
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Hence, we have the following extra valid static functions defined in the struct `gtsam::traits<T>`:
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* `r = traits<T>::Compose(p,q,Hq,Hp)`
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* `q = traits<T>::Inverse(p,Hp)`
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@ -173,7 +173,7 @@ Implementation
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GTSAM Types start with Uppercase, e.g., `gtsam::Point2`, and are models of the
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TESTABLE, MANIFOLD, GROUP, LIE_GROUP, and VECTOR_SPACE concepts.
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`gtsam::manifold::traits` is our way to associate these concepts with types,
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`gtsam::traits` is our way to associate these concepts with types,
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and we also define a limited number of `gtsam::tags` to select the correct implementation
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of certain functions at compile time (tag dispatching).
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