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Wrapped LieMatrix

release/4.3a0
Richard Roberts 2012-07-17 15:51:32 +00:00
parent abc29ea2ca
commit 6eb9d3246f
1 changed files with 28 additions and 0 deletions
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28
gtsam.h
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@ -126,6 +126,34 @@ virtual class LieVector : gtsam::Value {
static Vector Logmap(const gtsam::LieVector& p);
};
virtual class LieMatrix : gtsam::Value {
// Standard constructors
LieMatrix();
LieMatrix(Matrix v);
// Standard interface
Vector matrix() const;
// Testable
void print(string s) const;
bool equals(const gtsam::LieMatrix& expected, double tol) const;
// Group
static gtsam::LieMatrix identity();
gtsam::LieMatrix inverse() const;
gtsam::LieMatrix compose(const gtsam::LieMatrix& p) const;
gtsam::LieMatrix between(const gtsam::LieMatrix& l2) const;
// Manifold
size_t dim() const;
gtsam::LieMatrix retract(Vector v) const;
Vector localCoordinates(const gtsam::LieMatrix & t2) const;
// Lie group
static gtsam::LieMatrix Expmap(Vector v);
static Vector Logmap(const gtsam::LieMatrix& p);
};
//*************************************************************************
// geometry
//*************************************************************************