smooth/conceptLieGroup.html

template<typename G>

concept LieGroup =

requires (Eigen::Index dof) {


  typename traits::lie<G>::Scalar;


  typename traits::lie<G>::PlainObject;


  {traits::lie<G>::Dof}->std::convertible_to<int>;


  {traits::lie<G>::IsCommutative}->std::convertible_to<bool>;


  {traits::lie<G>::Identity(dof)}->std::convertible_to<typename traits::lie<G>::PlainObject>;


  {traits::lie<G>::Random(dof)}->std::convertible_to<typename traits::lie<G>::PlainObject>;

} &&


requires(const G & g1, const G & g2, typename traits::lie<G>::Scalar eps) {


  {traits::lie<G>::Ad(g1)}->std::convertible_to<Eigen::Matrix<typename traits::lie<G>::Scalar, traits::lie<G>::Dof, traits::lie<G>::Dof>>;


  {traits::lie<G>::composition(g1, g2)}->std::convertible_to<typename traits::lie<G>::PlainObject>;


  {traits::lie<G>::dof(g1)}->std::convertible_to<Eigen::Index>;


  {traits::lie<G>::inverse(g1)}->std::convertible_to<typename traits::lie<G>::PlainObject>;


  {traits::lie<G>::isApprox(g1, g2, eps)}->std::convertible_to<bool>;


  {traits::lie<G>::log(g1)}->std::convertible_to<Eigen::Vector<typename traits::lie<G>::Scalar, traits::lie<G>::Dof>>;

} &&


requires(const Eigen::Vector<typename traits::lie<G>::Scalar, traits::lie<G>::Dof> & a) {


  {traits::lie<G>::ad(a)}->std::convertible_to<Eigen::Matrix<typename traits::lie<G>::Scalar, traits::lie<G>::Dof, traits::lie<G>::Dof>>;


  {traits::lie<G>::exp(a)}->std::convertible_to<typename traits::lie<G>::PlainObject>;


  {traits::lie<G>::dr_exp(a)}->std::convertible_to<Eigen::Matrix<typename traits::lie<G>::Scalar, traits::lie<G>::Dof, traits::lie<G>::Dof>>;


  {traits::lie<G>::dr_expinv(a)}->std::convertible_to<Eigen::Matrix<typename traits::lie<G>::Scalar, traits::lie<G>::Dof, traits::lie<G>::Dof>>;


  {traits::lie<G>::d2r_exp(a)}->std::convertible_to<Eigen::Matrix<typename traits::lie<G>::Scalar, traits::lie<G>::Dof, (traits::lie<G>::Dof > 0 ? traits::lie<G>::Dof * traits::lie<G>::Dof : -1)>>;


  {traits::lie<G>::d2r_expinv(a)}->std::convertible_to<Eigen::Matrix<typename traits::lie<G>::Scalar, traits::lie<G>::Dof, (traits::lie<G>::Dof > 0 ? traits::lie<G>::Dof * traits::lie<G>::Dof : -1)>>;

} && (


  !std::is_convertible_v<typename traits::lie<G>::Scalar, double> ||

  requires (const G & g) {

    {traits::lie<G>::template cast<double>(g)};

  }

) && (

  !std::is_convertible_v<typename traits::lie<G>::Scalar, float> ||

  requires (const G & g) {

    {traits::lie<G>::template cast<double>(g)};

  }

) &&


std::is_default_constructible_v<typename traits::lie<G>::PlainObject> &&

std::is_copy_constructible_v<typename traits::lie<G>::PlainObject> &&


std::is_assignable_v<typename traits::lie<G>::PlainObject &, G>

LieGroup
Class-external Lie group interface defined through the traits::lie trait class.
Definition lie_group.hpp:33

dof
Eigen::Index dof(const M &m)
Manifold degrees of freedom (tangent space dimension)
Definition manifold.hpp:145

traits::lie
Trait class for making a class a LieGroup instance via specialization.
Definition lie_group.hpp:23