The cartesian product of two or more manifolds. More...

#include <aligator/modelling/spaces/cartesian-product.hpp>

Inheritance diagram for aligator::CartesianProductTpl< _Scalar >:

Collaboration diagram for aligator::CartesianProductTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Base = ManifoldAbstractTpl<Scalar>

Public Types inherited from aligator::ManifoldAbstractTpl< _Scalar >
using	Scalar = _Scalar

using	TangentSpaceType = VectorSpaceTpl<Scalar, Eigen::Dynamic>
	Typedef for the tangent space, as a manifold.

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

const Base &	getComponent (std::size_t i) const

std::size_t	numComponents () const

template<class Concrete>
void	addComponent (const Concrete &c)

template<class Concrete>
void	addComponent (Concrete &&c)

void	addComponent (const CartesianProductTpl &other)

	CartesianProductTpl ()

	CartesianProductTpl (const CartesianProductTpl &)=default

CartesianProductTpl &	operator= (const CartesianProductTpl &)=default

	CartesianProductTpl (CartesianProductTpl &&)=default

CartesianProductTpl &	operator= (CartesianProductTpl &&)=default

	CartesianProductTpl (const std::vector< xyz::polymorphic< Base > > &components)

	CartesianProductTpl (std::vector< xyz::polymorphic< Base > > &&components)

	CartesianProductTpl (std::initializer_list< xyz::polymorphic< Base > > components)

	CartesianProductTpl (const xyz::polymorphic< Base > &left, const xyz::polymorphic< Base > &right)

bool	isNormalized (const ConstVectorRef &x) const
	Check if the input vector `x` is a viable element of the manifold.

template<class VectorType, class U = std::remove_const_t<VectorType>>
std::vector< U >	split_impl (VectorType &x) const

template<class VectorType, class U = std::remove_const_t<VectorType>>
std::vector< U >	split_vector_impl (VectorType &v) const

std::vector< VectorRef >	split (VectorRef x) const

std::vector< ConstVectorRef >	split (const ConstVectorRef &x) const

std::vector< VectorRef >	split_vector (VectorRef v) const

std::vector< ConstVectorRef >	split_vector (const ConstVectorRef &v) const

VectorXs	merge (const std::vector< VectorXs > &xs) const

VectorXs	merge_vector (const std::vector< VectorXs > &vs) const

int	ndx () const
	Get manifold tangent space dimension.

int	nx () const
	Get manifold representation dimension.

Public Member Functions inherited from aligator::ManifoldAbstractTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	Scalar type.

	ManifoldAbstractTpl (int nx, int ndx)

virtual	~ManifoldAbstractTpl ()=default

int	nx () const
	Get manifold representation dimension.

int	ndx () const
	Get manifold tangent space dimension.

VectorXs	neutral () const
	Get the neutral element \(e \in M\) from the manifold (if this makes sense).

void	neutral (VectorRef out) const
	Get the neutral element \(e \in M\) from the manifold (if this makes sense).

VectorXs	rand () const
	Sample a random point \(x \in M\) on the manifold.

void	rand (VectorRef out) const
	Sample a random point \(x \in M\) on the manifold.

TangentSpaceType	tangentSpace () const
	Return an object representing the tangent space as a manifold.

void	integrate (const ConstVectorRef &x, const ConstVectorRef &v, VectorRef out) const
	Manifold integration operation \(x \oplus v\).

void	Jintegrate (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const
	Jacobian of the integation operation.

void	JintegrateTransport (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const
	Perform the parallel transport operation.

void	difference (const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef out) const
	Manifold difference/retraction operation \(x_1 \ominus x_0\).

void	Jdifference (const ConstVectorRef &x0, const ConstVectorRef &x1, MatrixRef Jout, int arg) const
	Jacobian of the retraction operation.

void	interpolate (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u, VectorRef out) const

VectorXs	integrate (const ConstVectorRef &x, const ConstVectorRef &v) const
	Manifold integration operation \(x \oplus v\).

VectorXs	difference (const ConstVectorRef &x0, const ConstVectorRef &x1) const
	Manifold difference/retraction operation \(x_1 \ominus x_0\).

VectorXs	interpolate (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u) const
	Interpolation operation.

Protected Member Functions
void	_calc_dims ()

void	neutral_impl (VectorRef out) const

void	rand_impl (VectorRef out) const

void	integrate_impl (const ConstVectorRef &x, const ConstVectorRef &v, VectorRef out) const
	Perform the manifold integration operation.

void	difference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef out) const
	Implementation of the manifold retraction operation.

void	Jintegrate_impl (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const

void	JintegrateTransport_impl (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const

void	Jdifference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, MatrixRef Jout, int arg) const

Protected Member Functions inherited from aligator::ManifoldAbstractTpl< _Scalar >
virtual void	interpolate_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u, VectorRef out) const
	Interpolation operation.

Static Protected Member Functions
template<class Concrete>
static int	_get_nx (const Concrete &c)

template<class Concrete>
static int	_get_ndx (const Concrete &c)

static int	_get_nx (const xyz::polymorphic< Base > &c)

static int	_get_ndx (const xyz::polymorphic< Base > &c)

Protected Attributes
std::vector< xyz::polymorphic< Base > >	m_components

Protected Attributes inherited from aligator::ManifoldAbstractTpl< _Scalar >
int	nx_

int	ndx_

Detailed Description

template<typename _Scalar>
struct aligator::CartesianProductTpl< _Scalar >

The cartesian product of two or more manifolds.

Definition at line 13 of file cartesian-product.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

using aligator::CartesianProductTpl< _Scalar >::Scalar = _Scalar

Definition at line 15 of file cartesian-product.hpp.

◆ Base

template<typename _Scalar>

using aligator::CartesianProductTpl< _Scalar >::Base = ManifoldAbstractTpl<Scalar>

Definition at line 17 of file cartesian-product.hpp.

Constructor & Destructor Documentation

◆ CartesianProductTpl() [1/7]

template<typename _Scalar>

aligator::CartesianProductTpl< _Scalar >::CartesianProductTpl ( )

inlineexplicit

Definition at line 54 of file cartesian-product.hpp.

◆ CartesianProductTpl() [2/7]

template<typename _Scalar>

aligator::CartesianProductTpl< _Scalar >::CartesianProductTpl ( const CartesianProductTpl< _Scalar > & )

default

◆ CartesianProductTpl() [3/7]

template<typename _Scalar>

aligator::CartesianProductTpl< _Scalar >::CartesianProductTpl ( CartesianProductTpl< _Scalar > && )

default

◆ CartesianProductTpl() [4/7]

template<typename _Scalar>

aligator::CartesianProductTpl< _Scalar >::CartesianProductTpl ( const std::vector< xyz::polymorphic< Base > > & components )

inline

Definition at line 62 of file cartesian-product.hpp.

◆ CartesianProductTpl() [5/7]

template<typename _Scalar>

aligator::CartesianProductTpl< _Scalar >::CartesianProductTpl ( std::vector< xyz::polymorphic< Base > > && components )

inline

Definition at line 68 of file cartesian-product.hpp.

◆ CartesianProductTpl() [6/7]

template<typename _Scalar>

aligator::CartesianProductTpl< _Scalar >::CartesianProductTpl ( std::initializer_list< xyz::polymorphic< Base > > components )

inline

Definition at line 74 of file cartesian-product.hpp.

◆ CartesianProductTpl() [7/7]

template<typename _Scalar>

aligator::CartesianProductTpl< _Scalar >::CartesianProductTpl	(	const xyz::polymorphic< Base > &	left,
		const xyz::polymorphic< Base > &	right )

inline

Definition at line 80 of file cartesian-product.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::CartesianProductTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ getComponent()

template<typename _Scalar>

const Base & aligator::CartesianProductTpl< _Scalar >::getComponent ( std::size_t i ) const

inline

Definition at line 22 of file cartesian-product.hpp.

◆ numComponents()

template<typename _Scalar>

std::size_t aligator::CartesianProductTpl< _Scalar >::numComponents ( ) const

inline

Definition at line 24 of file cartesian-product.hpp.

◆ addComponent() [1/3]

template<typename _Scalar>

template<class Concrete>

void aligator::CartesianProductTpl< _Scalar >::addComponent ( const Concrete & c )

inline

Definition at line 26 of file cartesian-product.hpp.

◆ addComponent() [2/3]

template<typename _Scalar>

template<class Concrete>

void aligator::CartesianProductTpl< _Scalar >::addComponent ( Concrete && c )

inline

Definition at line 37 of file cartesian-product.hpp.

◆ addComponent() [3/3]

template<typename _Scalar>

void aligator::CartesianProductTpl< _Scalar >::addComponent ( const CartesianProductTpl< _Scalar > & other )

inline

Definition at line 48 of file cartesian-product.hpp.

◆ operator=() [1/2]

template<typename _Scalar>

CartesianProductTpl & aligator::CartesianProductTpl< _Scalar >::operator= ( const CartesianProductTpl< _Scalar > & )

default

◆ operator=() [2/2]

template<typename _Scalar>

CartesianProductTpl & aligator::CartesianProductTpl< _Scalar >::operator= ( CartesianProductTpl< _Scalar > && )

default

◆ isNormalized()

template<typename _Scalar>

bool aligator::CartesianProductTpl< _Scalar >::isNormalized ( const ConstVectorRef & ) const

virtual

Check if the input vector x is a viable element of the manifold.

Reimplemented from aligator::ManifoldAbstractTpl< _Scalar >.

◆ split_impl()

template<typename _Scalar>

template<class VectorType, class U = std::remove_const_t<VectorType>>

std::vector< U > aligator::CartesianProductTpl< _Scalar >::split_impl ( VectorType & x ) const

◆ split_vector_impl()

template<typename _Scalar>

template<class VectorType, class U = std::remove_const_t<VectorType>>

std::vector< U > aligator::CartesianProductTpl< _Scalar >::split_vector_impl ( VectorType & v ) const

◆ split() [1/2]

template<typename _Scalar>

std::vector< VectorRef > aligator::CartesianProductTpl< _Scalar >::split ( VectorRef x ) const

inlinenodiscard

Definition at line 93 of file cartesian-product.hpp.

◆ split() [2/2]

template<typename _Scalar>

std::vector< ConstVectorRef > aligator::CartesianProductTpl< _Scalar >::split ( const ConstVectorRef & x ) const

inlinenodiscard

Definition at line 98 of file cartesian-product.hpp.

◆ split_vector() [1/2]

template<typename _Scalar>

std::vector< VectorRef > aligator::CartesianProductTpl< _Scalar >::split_vector ( VectorRef v ) const

inlinenodiscard

Definition at line 102 of file cartesian-product.hpp.

◆ split_vector() [2/2]

template<typename _Scalar>

std::vector< ConstVectorRef > aligator::CartesianProductTpl< _Scalar >::split_vector ( const ConstVectorRef & v ) const

inlinenodiscard

Definition at line 107 of file cartesian-product.hpp.

◆ merge()

template<typename _Scalar>

VectorXs aligator::CartesianProductTpl< _Scalar >::merge ( const std::vector< VectorXs > & xs ) const

nodiscard

◆ merge_vector()

template<typename _Scalar>

VectorXs aligator::CartesianProductTpl< _Scalar >::merge_vector ( const std::vector< VectorXs > & vs ) const

nodiscard

◆ _calc_dims()

template<typename _Scalar>

void aligator::CartesianProductTpl< _Scalar >::_calc_dims ( )

inlineprotected

Definition at line 118 of file cartesian-product.hpp.

◆ _get_nx() [1/2]

template<typename _Scalar>

template<class Concrete>

static int aligator::CartesianProductTpl< _Scalar >::_get_nx ( const Concrete & c )

inlinestaticprotected

Definition at line 127 of file cartesian-product.hpp.

◆ _get_ndx() [1/2]

template<typename _Scalar>

template<class Concrete>

static int aligator::CartesianProductTpl< _Scalar >::_get_ndx ( const Concrete & c )

inlinestaticprotected

Definition at line 130 of file cartesian-product.hpp.

◆ _get_nx() [2/2]

template<typename _Scalar>

static int aligator::CartesianProductTpl< _Scalar >::_get_nx ( const xyz::polymorphic< Base > & c )

inlinestaticprotected

Definition at line 133 of file cartesian-product.hpp.

◆ _get_ndx() [2/2]

template<typename _Scalar>

static int aligator::CartesianProductTpl< _Scalar >::_get_ndx ( const xyz::polymorphic< Base > & c )

inlinestaticprotected

Definition at line 134 of file cartesian-product.hpp.

◆ neutral_impl()

template<typename _Scalar>

void aligator::CartesianProductTpl< _Scalar >::neutral_impl ( VectorRef out ) const

protectedvirtual

Reimplemented from aligator::ManifoldAbstractTpl< _Scalar >.

◆ rand_impl()

template<typename _Scalar>

void aligator::CartesianProductTpl< _Scalar >::rand_impl ( VectorRef out ) const

protectedvirtual

Reimplemented from aligator::ManifoldAbstractTpl< _Scalar >.

◆ integrate_impl()

template<typename _Scalar>

void aligator::CartesianProductTpl< _Scalar >::integrate_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		VectorRef	out ) const

protectedvirtual

Perform the manifold integration operation.

Implements aligator::ManifoldAbstractTpl< _Scalar >.

◆ difference_impl()

template<typename _Scalar>

void aligator::CartesianProductTpl< _Scalar >::difference_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		VectorRef	out ) const

protectedvirtual

Implementation of the manifold retraction operation.

Implements aligator::ManifoldAbstractTpl< _Scalar >.

◆ Jintegrate_impl()

template<typename _Scalar>

void aligator::CartesianProductTpl< _Scalar >::Jintegrate_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

protectedvirtual

Implements aligator::ManifoldAbstractTpl< _Scalar >.

◆ JintegrateTransport_impl()

template<typename _Scalar>

void aligator::CartesianProductTpl< _Scalar >::JintegrateTransport_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

protectedvirtual

Implements aligator::ManifoldAbstractTpl< _Scalar >.

◆ Jdifference_impl()

template<typename _Scalar>

void aligator::CartesianProductTpl< _Scalar >::Jdifference_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		MatrixRef	Jout,
		int	arg ) const

protectedvirtual

Implements aligator::ManifoldAbstractTpl< _Scalar >.

◆ ndx()

template<typename _Scalar>

int aligator::ManifoldAbstractTpl< Scalar >::ndx ( ) const

inline

Get manifold tangent space dimension.

Definition at line 27 of file manifold-base.hpp.

◆ nx()

template<typename _Scalar>

int aligator::ManifoldAbstractTpl< Scalar >::nx ( ) const

inline

Get manifold representation dimension.

Definition at line 25 of file manifold-base.hpp.

Member Data Documentation

◆ m_components

template<typename _Scalar>

std::vector<xyz::polymorphic<Base> > aligator::CartesianProductTpl< _Scalar >::m_components

protected

Definition at line 116 of file cartesian-product.hpp.

The documentation for this struct was generated from the following file:

include/aligator/modelling/spaces/cartesian-product.hpp

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

Constructor & Destructor Documentation

◆ CartesianProductTpl() [1/7]

◆ CartesianProductTpl() [2/7]

◆ CartesianProductTpl() [3/7]

◆ CartesianProductTpl() [4/7]

◆ CartesianProductTpl() [5/7]

◆ CartesianProductTpl() [6/7]

◆ CartesianProductTpl() [7/7]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ getComponent()

◆ numComponents()

◆ addComponent() [1/3]

◆ addComponent() [2/3]

◆ addComponent() [3/3]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ isNormalized()

◆ split_impl()

◆ split_vector_impl()

◆ split() [1/2]

◆ split() [2/2]

◆ split_vector() [1/2]

◆ split_vector() [2/2]

◆ merge()

◆ merge_vector()

◆ _calc_dims()

◆ _get_nx() [1/2]

◆ _get_ndx() [1/2]

◆ _get_nx() [2/2]

◆ _get_ndx() [2/2]

◆ neutral_impl()

◆ rand_impl()

◆ integrate_impl()

◆ difference_impl()

◆ Jintegrate_impl()

◆ JintegrateTransport_impl()

◆ Jdifference_impl()

◆ ndx()

◆ nx()

Member Data Documentation

◆ m_components