Comments (4)
It's more probably this (I'm not sure about CRTP):
template<typename ManifoldType, typename VectorType>
class manifold {
...
}
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Actually, this looks far more CRTP:
template<typename Derived>
class manifold {
typedef Derived::ManifoldType ManifoldType;
typedef Matrix<ManifoldType::Scalar, ManifoldType::VectorSize, 1> VectorType;
typedef Matrix<ManifoldType::Scalar, ManifoldType::VectorSize, ManifoldType::VectorSize> JacobianType;
...
}
you see my point...
from manif.
Thanks for this first feedback.
Let us put aside the Jacs at first because I'm not sure yet how to deal with their type (how to define it and forward it to the crtp base class).
I propose we first agree on the semantic, then the overall API and finally on the implementation.
For instance, in your comments, the result of a lift
is of type VectorType
. So far I have called it a Tangent
...
from manif.
Closing this since the API is fairly stable now.
from manif.
Related Issues (20)
- Links for c++ examples broken in documentation
- Motivation for the ESKF in the paper example HOT 6
- Support for objects which evolve on manifold but do not form group (Unit Sphere manifold, as an example) HOT 2
- Provide a way to check if group is compact or not at compile and run time. HOT 8
- se2_localization example displaying trajectory in xy HOT 3
- Feature request: Cotangent space HOT 2
- Question about left Jacobian trick in exp of SE(3). Is it just a special case? HOT 3
- Question about "A mciro lie theory..." and "Quaternion kinematics for the ESKF" HOT 2
- Question regarding Jacobian of inverse action HOT 4
- Lie Bracket operation HOT 8
- Paper / Cheat Sheet vs Code inconsistency HOT 2
- Broken with current Eigen3? HOT 7
- Global versus local tangent space HOT 2
- Parsing an Eigen::Isometry3d matrix HOT 5
- Support specifying C++ standard from CMake command line when compiling Python bindings HOT 2
- cc1plus(48849) malloc: *** mmap(size=2097152) failed (error code=12) HOT 2
- Minus operator of SE(3) in paper HOT 1
- Practical benefit of SE(3) / Sim(3) vs T(3) x SO(3) HOT 5
- cast from float to double HOT 4
- Confused by Ceres Jacobian Explanation HOT 2
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