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release/4.3a0
dellaert 2014-12-26 17:46:25 +01:00
parent f36dc59a8c
commit 1f095f2655
1 changed files with 2 additions and 2 deletions
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GTSAM-Concepts.md
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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. 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. 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)` * `r = traits<T>::Compose(p,q,Hq,Hp)`
* `q = traits<T>::Inverse(p,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 GTSAM Types start with Uppercase, e.g., `gtsam::Point2`, and are models of the
TESTABLE, MANIFOLD, GROUP, LIE_GROUP, and VECTOR_SPACE concepts. 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 and we also define a limited number of `gtsam::tags` to select the correct implementation
of certain functions at compile time (tag dispatching). of certain functions at compile time (tag dispatching).