derivatives.hpp

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// Copyright (C) 2021-2022 Petter Nilsson. MIT License.
 
#pragma once
 
#include <Eigen/Core>
 
#include "lie_groups.hpp"
 
SMOOTH_BEGIN_NAMESPACE
 
template<typename At, typename dAt, typename Bt, typename dBt>
auto d_matrix_product(const At & A, const dAt & dA, const Bt & B, const dBt & dB);
 
template<typename JfT, typename HfT, typename JgT, typename HgT>
auto d2_fog(const JfT & Jf, const HfT & Hf, const JgT & Jg, const HgT & Hg);
 
template<LieGroup G>
TangentMap<G> dr_rminus(const Tangent<G> & e);
 
template<LieGroup G>
Hessian<G> d2r_rminus(const Tangent<G> & e);
 
template<LieGroup G>
Eigen::RowVector<Scalar<G>, Dof<G>> dr_rminus_squarednorm(const Tangent<G> & e);
 
template<LieGroup G>
Eigen::Matrix<Scalar<G>, Dof<G>, Dof<G>> d2r_rminus_squarednorm(const Tangent<G> & e);
 
SMOOTH_END_NAMESPACE
 
#include "detail/derivatives_impl.hpp"