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