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release/4.3a0
Frank Dellaert 2014-12-04 22:33:31 +00:00
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GTSAM-Concepts.md
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@ -40,7 +40,7 @@ A given chart is implemented using a small class that defines the chart itself (
* types:
* `Manifold`, a pointer back to the type
* valid expressions:
* `v = Chart::local(p,q)`, the chart, from manifold to tangent space, think of it as *p (-) q*
* `v = Chart::local(p,q)`, the chart, from manifold to tangent space, think of it as *q (-) p*
* `p = Chart::retract(p,v)`, the inverse chart, from tangent space to manifold, think of it as *p (+) v*
For many differential manifolds, an obvious mapping is the `exponential map`, which associates straight lines in the tangent space with geodesics on the manifold (and it's inverse, the log map). However, there are two cases in which we deviate from this: