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

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

Inheritance diagram for proxsuite::nlp::CartesianProductTpl< _Scalar >:

Collaboration diagram for proxsuite::nlp::CartesianProductTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Base = ManifoldAbstractTpl<Scalar>

Public Types inherited from proxsuite::nlp::ManifoldAbstractTpl< _Scalar >
using	Scalar

using	TangentSpaceType
	Typedef for the tangent space, as a manifold.

Public Member Functions
const Base &	getComponent (std::size_t i) const

std::size_t	numComponents () const

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

void	addComponent (const CartesianProductTpl &other)

	CartesianProductTpl (const CartesianProductTpl &)=default

CartesianProductTpl &	operator= (const CartesianProductTpl &)=default

	CartesianProductTpl (CartesianProductTpl &&)=default

CartesianProductTpl &	operator= (CartesianProductTpl &&)=default

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

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

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

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).

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

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

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

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

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

Public Member Functions inherited from proxsuite::nlp::ManifoldAbstractTpl< _Scalar >
const 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	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.

Public Attributes
	Scalar

Public Attributes inherited from proxsuite::nlp::ManifoldAbstractTpl< _Scalar >
	Scalar

Additional Inherited Members
Static Public Attributes inherited from proxsuite::nlp::ManifoldAbstractTpl< _Scalar >
static constexpr int	Options
	Scalar type.

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

Detailed Description

template<typename _Scalar>
struct proxsuite::nlp::CartesianProductTpl< _Scalar >

The cartesian product of two or more manifolds.

Definition at line 14 of file cartesian-product.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

using proxsuite::nlp::CartesianProductTpl< _Scalar >::Scalar = _Scalar

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

◆ Base

template<typename _Scalar>

using proxsuite::nlp::CartesianProductTpl< _Scalar >::Base = ManifoldAbstractTpl<Scalar>

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

Constructor & Destructor Documentation

◆ CartesianProductTpl() [1/3]

template<typename _Scalar>

proxsuite::nlp::CartesianProductTpl< _Scalar >::CartesianProductTpl ( const std::vector< polymorphic< Base > > & components )

inline

Definition at line 49 of file cartesian-product.hpp.

◆ CartesianProductTpl() [2/3]

template<typename _Scalar>

proxsuite::nlp::CartesianProductTpl< _Scalar >::CartesianProductTpl ( std::initializer_list< polymorphic< Base > > components )

inline

Definition at line 52 of file cartesian-product.hpp.

◆ CartesianProductTpl() [3/3]

template<typename _Scalar>

proxsuite::nlp::CartesianProductTpl< _Scalar >::CartesianProductTpl	(	const polymorphic< Base > &	left,
		const polymorphic< Base > &	right )

inline

Definition at line 55 of file cartesian-product.hpp.

Member Function Documentation

◆ getComponent()

template<typename _Scalar>

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

inline

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

◆ numComponents()

template<typename _Scalar>

std::size_t proxsuite::nlp::CartesianProductTpl< _Scalar >::numComponents ( ) const

inline

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

◆ addComponent() [1/2]

template<typename _Scalar>

template<class Concrete>

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

inline

Definition at line 28 of file cartesian-product.hpp.

◆ addComponent() [2/2]

template<typename _Scalar>

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

inline

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

◆ nx()

template<typename _Scalar>

int proxsuite::nlp::CartesianProductTpl< _Scalar >::nx ( ) const

inlinevirtual

Get manifold representation dimension.

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar >.

Definition at line 61 of file cartesian-product.hpp.

◆ ndx()

template<typename _Scalar>

int proxsuite::nlp::CartesianProductTpl< _Scalar >::ndx ( ) const

inlinevirtual

Get manifold tangent space dimension.

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar >.

Definition at line 69 of file cartesian-product.hpp.

◆ neutral()

template<typename Scalar>

auto proxsuite::nlp::CartesianProductTpl< Scalar >::neutral ( ) const

virtual

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

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< _Scalar >.

Definition at line 9 of file cartesian-product.hxx.

◆ rand()

template<typename Scalar>

auto proxsuite::nlp::CartesianProductTpl< Scalar >::rand ( ) const

virtual

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

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< _Scalar >.

Definition at line 21 of file cartesian-product.hxx.

◆ isNormalized()

template<typename Scalar>

bool proxsuite::nlp::CartesianProductTpl< Scalar >::isNormalized ( const ConstVectorRef & ) const

virtual

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

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< _Scalar >.

Definition at line 33 of file cartesian-product.hxx.

◆ split() [1/2]

template<typename _Scalar>

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

inline

Definition at line 89 of file cartesian-product.hpp.

◆ split() [2/2]

template<typename _Scalar>

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

inline

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

◆ split_vector() [1/2]

template<typename _Scalar>

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

inline

Definition at line 97 of file cartesian-product.hpp.

◆ split_vector() [2/2]

template<typename _Scalar>

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

inline

Definition at line 101 of file cartesian-product.hpp.

◆ merge()

template<typename Scalar>

auto proxsuite::nlp::CartesianProductTpl< Scalar >::merge ( const std::vector< VectorXs > & xs ) const

Definition at line 72 of file cartesian-product.hxx.

◆ merge_vector()

template<typename Scalar>

auto proxsuite::nlp::CartesianProductTpl< Scalar >::merge_vector ( const std::vector< VectorXs > & vs ) const

Definition at line 85 of file cartesian-product.hxx.

◆ integrate_impl()

template<typename Scalar>

void proxsuite::nlp::CartesianProductTpl< Scalar >::integrate_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		VectorRef	out ) const

virtual

Perform the manifold integration operation.

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar >.

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

◆ difference_impl()

template<typename Scalar>

void proxsuite::nlp::CartesianProductTpl< Scalar >::difference_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		VectorRef	out ) const

virtual

Implementation of the manifold retraction operation.

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar >.

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

◆ Jintegrate_impl()

template<typename Scalar>

void proxsuite::nlp::CartesianProductTpl< Scalar >::Jintegrate_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

virtual

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar >.

Definition at line 138 of file cartesian-product.hxx.

◆ JintegrateTransport()

template<typename Scalar>

void proxsuite::nlp::CartesianProductTpl< Scalar >::JintegrateTransport	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

virtual

Perform the parallel transport operation.

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar >.

Definition at line 160 of file cartesian-product.hxx.

◆ Jdifference_impl()

template<typename Scalar>

void proxsuite::nlp::CartesianProductTpl< Scalar >::Jdifference_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		MatrixRef	Jout,
		int	arg ) const

virtual

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar >.

Definition at line 180 of file cartesian-product.hxx.

Member Data Documentation

◆ Scalar

template<typename _Scalar>

proxsuite::nlp::CartesianProductTpl< _Scalar >::Scalar

Definition at line 18 of file cartesian-product.hpp.

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

include/proxsuite-nlp/fwd.hpp
include/proxsuite-nlp/modelling/spaces/cartesian-product.hpp
include/proxsuite-nlp/modelling/spaces/cartesian-product.hxx

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

Constructor & Destructor Documentation

◆ CartesianProductTpl() [1/3]

◆ CartesianProductTpl() [2/3]

◆ CartesianProductTpl() [3/3]

Member Function Documentation

◆ getComponent()

◆ numComponents()

◆ addComponent() [1/2]

◆ addComponent() [2/2]

◆ nx()

◆ ndx()

◆ neutral()

◆ rand()

◆ isNormalized()

◆ split() [1/2]

◆ split() [2/2]

◆ split_vector() [1/2]

◆ split_vector() [2/2]

◆ merge()

◆ merge_vector()

◆ integrate_impl()

◆ difference_impl()

◆ Jintegrate_impl()

◆ JintegrateTransport()

◆ Jdifference_impl()

Member Data Documentation

◆ Scalar