Concepts

This section explains the core concepts in Tangent: how to define variables that live on manifolds, how to create error terms that constrain those variables, and how to use automatic differentiation to avoid hand-deriving Jacobians. Code examples are shown in both C++ and Python where applicable.

• Variables
  • What is a Variable?
  • Manifold Updates
  • Built-in Variables
  • Creating Custom Variables
  • Autodiff Support
• Error Terms
  • What is an Error Term?
  • Manual Jacobians
  • Using Automatic Differentiation
• Automatic Differentiation
  • Jet Numbers
  • Lifting Variables to Jets
  • Creating an Autodiff Error Term
  • Performance Considerations