68 lines
1.3 KiB
C++
68 lines
1.3 KiB
C++
/*
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* Lie.h
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*
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* Created on: Jan 5, 2010
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* Author: Richard Roberts
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*/
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#ifndef LIE_H_
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#define LIE_H_
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#include "Vector.h"
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#include "VectorConfig.h"
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#include "Matrix.h"
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namespace gtsam {
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template<class T>
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T expmap(const Vector& v); /* Exponential map about identity */
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// Syntactic sugar
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template<class T>
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inline T operator*(const T& l1, const T& l0) { return compose(l1, l0); }
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// The following functions may be overridden in your own class file
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// with more efficient versions if possible.
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// Compute l1 s.t. l2=l1*l0
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template<class T>
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inline T between(const T& l0, const T& l2) { return l2*inverse(l0); }
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// Log map centered at l0, s.t. exp(l0,log(l0,lp)) = lp
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template<class T>
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inline Vector logmap(const T& l0, const T& lp) { return logmap(between(l0,lp)); }
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/* Exponential map centered at l0, s.t. exp(l0,v) = exp(v)*l0 */
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template<class T>
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inline T expmap(const T& l0, const Vector& v) { return expmap<T>(v)*l0; }
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/**
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* Base class for Lie group type
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*/
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template <class T>
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class Lie {
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public:
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/**
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* Returns dimensionality of the tangent space
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*/
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size_t dim() const;
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/**
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* Returns Exponential mapy
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*/
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T expmap(const Vector& v) const;
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/**
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* Returns Log map
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*/
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Vector logmap(const T& lp) const;
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};
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}
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#endif /* LIE_H_ */
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