manifold-base.hpp

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#pragma once
 
#include "proxsuite-nlp/fwd.hpp"
 
namespace proxsuite {
namespace nlp {
 
template <typename _Scalar, int _Options> struct ManifoldAbstractTpl {
public:
  using Scalar = _Scalar; 
  static constexpr int Options = _Options;
 
  PROXSUITE_NLP_DYNAMIC_TYPEDEFS(Scalar);
 
  virtual ~ManifoldAbstractTpl() = default;
 
  virtual int nx() const = 0;
  virtual int ndx() const = 0;
 
  virtual VectorXs neutral() const { return VectorXs::Zero(nx()); }
  virtual VectorXs rand() const { return VectorXs::Random(nx()); }
  virtual bool isNormalized(const ConstVectorRef & /*x*/) const { return true; }
 
  using TangentSpaceType = VectorSpaceTpl<Scalar, Eigen::Dynamic, Options>;
 
  const TangentSpaceType tangentSpace() const {
    return TangentSpaceType(this->ndx());
  }
 
 
  void integrate(const ConstVectorRef &x, const ConstVectorRef &v,
                 VectorRef out) const;
 
  void Jintegrate(const ConstVectorRef &x, const ConstVectorRef &v,
                  MatrixRef Jout, int arg) const;
 
  virtual void JintegrateTransport(const ConstVectorRef &x,
                                   const ConstVectorRef &v, MatrixRef Jout,
                                   int arg) const = 0;
 
  void difference(const ConstVectorRef &x0, const ConstVectorRef &x1,
                  VectorRef out) const;
 
  void Jdifference(const ConstVectorRef &x0, const ConstVectorRef &x1,
                   MatrixRef Jout, int arg) const;
 
  void interpolate(const ConstVectorRef &x0, const ConstVectorRef &x1,
                   const Scalar &u, VectorRef out) const;
 
 
  VectorXs integrate(const ConstVectorRef &x, const ConstVectorRef &v) const {
    VectorXs out(nx());
    integrate_impl(x, v, out);
    return out;
  }
 
  VectorXs difference(const ConstVectorRef &x0,
                      const ConstVectorRef &x1) const {
    VectorXs out(ndx());
    difference_impl(x0, x1, out);
    return out;
  }
 
  VectorXs interpolate(const ConstVectorRef &x0, const ConstVectorRef &x1,
                       const Scalar &u) const {
    VectorXs out(nx());
    interpolate_impl(x0, x1, u, out);
    return out;
  }
 
 
protected:
  virtual void integrate_impl(const ConstVectorRef &x, const ConstVectorRef &v,
                              VectorRef out) const = 0;
 
  virtual void Jintegrate_impl(const ConstVectorRef &x, const ConstVectorRef &v,
                               MatrixRef Jout, int arg) const = 0;
 
  virtual void difference_impl(const ConstVectorRef &x0,
                               const ConstVectorRef &x1,
                               VectorRef out) const = 0;
 
  virtual void Jdifference_impl(const ConstVectorRef &x0,
                                const ConstVectorRef &x1, MatrixRef Jout,
                                int arg) const = 0;
 
  virtual void interpolate_impl(const ConstVectorRef &x0,
                                const ConstVectorRef &x1, const Scalar &u,
                                VectorRef out) const {
    // default implementation
    integrate(x0, u * difference(x0, x1), out);
  }
};
 
} // namespace nlp
} // namespace proxsuite
 
#include "proxsuite-nlp/manifold-base.hxx"
 
#ifdef PROXSUITE_NLP_ENABLE_TEMPLATE_INSTANTIATION
#include "proxsuite-nlp/manifold-base.txx"
#endif