traits::NativeLieGroup Concept Reference

Concept defining class with an internal Lie group interface. More...

#include <native.hpp>

Concept definition

template<typename G>
concept traits::NativeLieGroup = 
  requires {
    
  typename G::Scalar;
  typename G::Tangent;
  typename G::PlainObject;
  {G::Dof}->std::convertible_to<int>;
  {G::IsCommutative}->std::convertible_to<bool>;
} &&
(!(G::Dof > 0) || requires {
  {G::Identity()}->std::convertible_to<typename G::PlainObject>;
  {G::Random()}->std::convertible_to<typename G::PlainObject>;
}) &&
(!(G::Dof == -1) || requires (Eigen::Index dof) {  
  {G::Identity(dof)}->std::convertible_to<typename G::PlainObject>;
  {G::Random(dof)}->std::convertible_to<typename G::PlainObject>;
}) &&
(G::Tangent::SizeAtCompileTime == G::Dof) &&
requires(const G & g1, const G & g2, typename G::Scalar eps) {
  {g1.dof()}->std::convertible_to<Eigen::Index>;  
  {g1.Ad()}->std::convertible_to<Eigen::Matrix<typename G::Scalar, G::Dof, G::Dof>>;
  {g1 * g2}->std::convertible_to<typename G::PlainObject>;
  {g1.inverse()}->std::convertible_to<typename G::PlainObject>;
  {g1.isApprox(g2, eps)}->std::convertible_to<bool>;
  {g1.log()}->std::convertible_to<Eigen::Vector<typename G::Scalar, G::Dof>>;
} &&
requires(const Eigen::Vector<typename G::Scalar, G::Dof> & a) {
  {G::ad(a)}->std::convertible_to<Eigen::Matrix<typename G::Scalar, G::Dof, G::Dof>>;
  {G::exp(a)}->std::convertible_to<typename G::PlainObject>;
  {G::dr_exp(a)}->std::convertible_to<Eigen::Matrix<typename G::Scalar, G::Dof, G::Dof>>;
  {G::dr_expinv(a)}->std::convertible_to<Eigen::Matrix<typename G::Scalar, G::Dof, G::Dof>>;
  {G::d2r_exp(a)}->std::convertible_to<Eigen::Matrix<typename G::Scalar, G::Dof, G::Dof * G::Dof>>;
  {G::d2r_expinv(a)}->std::convertible_to<Eigen::Matrix<typename G::Scalar, G::Dof, G::Dof * G::Dof>>;
    
  }

Detailed Description

Concept defining class with an internal Lie group interface.

Concept satisfied if G has members that correspond to the LieGroup concept.

Definition at line 21 of file native.hpp.