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expressions.h
Go to the documentation of this file.
#pragma once
#include <gtsam/nonlinear/Expression.h>
#include <gtsam/base/Lie.h>
namespace gtsam {
// Generic between, assumes existence of traits<T>::Between
template <typename T>
Expression<T> between(const Expression<T>& t1, const Expression<T>& t2) {
return Expression<T>(traits<T>::Between, t1, t2);
}
// Generic compose, assumes existence of traits<T>::Compose
template <typename T>
Expression<T> compose(const Expression<T>& t1, const Expression<T>& t2) {
return Expression<T>(traits<T>::Compose, t1, t2);
}
// Some typedefs
typedef Expression<double> Double_;
typedef Expression<Vector1> Vector1_;
typedef Expression<Vector2> Vector2_;
typedef Expression<Vector3> Vector3_;
typedef Expression<Vector4> Vector4_;
typedef Expression<Vector5> Vector5_;
typedef Expression<Vector6> Vector6_;
typedef Expression<Vector7> Vector7_;
typedef Expression<Vector8> Vector8_;
typedef Expression<Vector9> Vector9_;
} // \namespace gtsam
Lie.h
Base class and basic functions for Lie types.
Expression.h
Expressions for Block Automatic Differentiation.
gtsam
Global functions in a separate testing namespace.
Definition chartTesting.h:28
gtsam::traits
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition concepts.h:30
gtsam::Expression
Expression class that supports automatic differentiation.
Definition Expression.h:48