Comments (8)
Hi @slovak194,
This makes sense. Would a static member like the existing Group::Dim/DoF...
work for you?
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@joansola Any thought on this? How about the name of such variable?
Group::Compact
Group::IsCompact
- something else?
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Are'nt all groups in manif compact?
I might be mistaken but I believe they are not. R^n
isn't compact ( ]-inf, +inf[ ) and thus neither are SE2/3
etc.
What is the purpose of this information?
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As far as I understand, only purely rotational groups in Manif can be considered compact. Yes, the first step I thought is to provide static member as @artivis has suggested. But there might be another step is to specify the range of unique parametrization for tangent.
The purpos on my side is related to the way how covariance for the group is expressed on a tangent space. As it only makes some sense if +- 3 sigma is inside this unique parametrization. Or maybe half of it.
Best regards,
Alex
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Oh I see. Yes, this makes sense.
Would this binary marker compact / non-compact be enough then? How to systematize a specification of the first cover of the manifold by the tangent space?
So far, all groups in manif
define this first cover by the norm of the rotational part of the tangent vector being inferior to PI.
Is it then generalizable to define the first cover through a maximum radius? I am unsure of these things in the general case.
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@joansola Any thought on this? How about the name of such variable?
* `Group::Compact` * `Group::IsCompact` * something else?
I tend to prefer IsCompact
over Compact
from manif.
Oh I see. Yes, this makes sense.
Would this binary marker compact / non-compact be enough then? How to systematize a specification of the first cover of the manifold by the tangent space?
So far, all groups in
manif
define this first cover by the norm of the rotational part of the tangent vector being inferior to PI.Is it then generalizable to define the first cover through a maximum radius? I am unsure of these things in the general case.
Would it be interesting / useful to have a test function in the group indicating whether a tangent vector is in the first cover of the manifold or beyond?
Tangent::inFirstCover() --> bool
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Related Issues (20)
- Documentation cover page looks bad in dark mode HOT 9
- 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
- se2_localization example displaying trajectory in xy HOT 3
- Feature request: Cotangent space HOT 3
- 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 11
- 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
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