Tangent bundle of a base manifold M. More...

#include <proxsuite-nlp/modelling/spaces/tangent-bundle.hpp>

Inheritance diagram for proxsuite::nlp::TangentBundleTpl< Base >:

Collaboration diagram for proxsuite::nlp::TangentBundleTpl< Base >:

Public Types
using	Self = TangentBundleTpl<Base>

using	Scalar = typename Base::Scalar

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

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

Public Member Functions
	TangentBundleTpl (Base base)
	Constructor using base space instance.

template<typename... BaseCtorArgs>
	TangentBundleTpl (BaseCtorArgs... args)
	Constructor using base space constructor.

int	nx () const
	Declare implementations.

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.

const Base &	getBaseSpace () const

Implementations of operators
void	integrate_impl (const ConstVectorRef &x, const ConstVectorRef &dx, VectorRef out) const
	Operators.

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

void	interpolate_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u, VectorRef out) const
	Interpolation operation.

template<typename Point>
Point::ConstSegmentReturnType	getBasePoint (const Point &x) const

template<typename Point>
Point::SegmentReturnType	getBasePointWrite (const Point &x) const

template<typename Tangent>
Tangent::ConstSegmentReturnType	getBaseTangent (const Tangent &v) const

template<typename Tangent>
Tangent::SegmentReturnType	getTangentHeadWrite (const Tangent &v) const

template<typename Jac>
Eigen::Block< Jac, Eigen::Dynamic, Eigen::Dynamic >	getBaseJacobian (const Jac &J) const

Public Member Functions inherited from proxsuite::nlp::ManifoldAbstractTpl< Base::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< Base::Scalar >
	Scalar

Static Public Attributes
static constexpr int	Options = Base::Options

Static Public Attributes inherited from proxsuite::nlp::ManifoldAbstractTpl< Base::Scalar >
static constexpr int	Options
	Scalar type.

Protected Attributes
Base	base_

Detailed Description

template<class Base>
struct proxsuite::nlp::TangentBundleTpl< Base >

Tangent bundle of a base manifold M.

Definition at line 12 of file tangent-bundle.hpp.

Member Typedef Documentation

◆ Self

template<class Base>

using proxsuite::nlp::TangentBundleTpl< Base >::Self = TangentBundleTpl<Base>

Definition at line 17 of file tangent-bundle.hpp.

◆ Scalar

template<class Base>

using proxsuite::nlp::TangentBundleTpl< Base >::Scalar = typename Base::Scalar

Definition at line 18 of file tangent-bundle.hpp.

Constructor & Destructor Documentation

◆ TangentBundleTpl() [1/2]

template<class Base>

proxsuite::nlp::TangentBundleTpl< Base >::TangentBundleTpl ( Base base )

inline

Constructor using base space instance.

Definition at line 23 of file tangent-bundle.hpp.

◆ TangentBundleTpl() [2/2]

template<class Base>

template<typename... BaseCtorArgs>

proxsuite::nlp::TangentBundleTpl< Base >::TangentBundleTpl ( BaseCtorArgs... args )

inline

Constructor using base space constructor.

Definition at line 26 of file tangent-bundle.hpp.

Member Function Documentation

◆ nx()

template<class Base>

int proxsuite::nlp::TangentBundleTpl< Base >::nx ( ) const

inlinevirtual

Declare implementations.

Implements proxsuite::nlp::ManifoldAbstractTpl< Base::Scalar >.

Definition at line 30 of file tangent-bundle.hpp.

◆ ndx()

template<class Base>

int proxsuite::nlp::TangentBundleTpl< Base >::ndx ( ) const

inlinevirtual

Get manifold tangent space dimension.

Implements proxsuite::nlp::ManifoldAbstractTpl< Base::Scalar >.

Definition at line 31 of file tangent-bundle.hpp.

◆ neutral()

template<class Base>

auto proxsuite::nlp::TangentBundleTpl< Base >::neutral ( ) const

virtual

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

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< Base::Scalar >.

Definition at line 8 of file tangent-bundle.hxx.

◆ rand()

template<class Base>

auto proxsuite::nlp::TangentBundleTpl< Base >::rand ( ) const

virtual

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

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< Base::Scalar >.

Definition at line 15 of file tangent-bundle.hxx.

◆ isNormalized()

template<class Base>

bool proxsuite::nlp::TangentBundleTpl< Base >::isNormalized ( const ConstVectorRef & ) const

inlinevirtual

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

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< Base::Scalar >.

Definition at line 35 of file tangent-bundle.hpp.

◆ getBaseSpace()

template<class Base>

const Base & proxsuite::nlp::TangentBundleTpl< Base >::getBaseSpace ( ) const

inline

Definition at line 40 of file tangent-bundle.hpp.

◆ integrate_impl()

template<class Base>

void proxsuite::nlp::TangentBundleTpl< Base >::integrate_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	dx,
		VectorRef	out ) const

virtual

Operators.

Implements proxsuite::nlp::ManifoldAbstractTpl< Base::Scalar >.

Definition at line 24 of file tangent-bundle.hxx.

◆ difference_impl()

template<class Base>

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

virtual

Implementation of the manifold retraction operation.

Implements proxsuite::nlp::ManifoldAbstractTpl< Base::Scalar >.

Definition at line 33 of file tangent-bundle.hxx.

◆ Jintegrate_impl()

template<class Base>

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

virtual

Implements proxsuite::nlp::ManifoldAbstractTpl< Base::Scalar >.

Definition at line 43 of file tangent-bundle.hxx.

◆ JintegrateTransport()

template<class Base>

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

virtual

Perform the parallel transport operation.

Implements proxsuite::nlp::ManifoldAbstractTpl< Base::Scalar >.

Definition at line 71 of file tangent-bundle.hxx.

◆ Jdifference_impl()

template<class Base>

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

virtual

Implements proxsuite::nlp::ManifoldAbstractTpl< Base::Scalar >.

Definition at line 55 of file tangent-bundle.hxx.

◆ interpolate_impl()

template<class Base>

void proxsuite::nlp::TangentBundleTpl< Base >::interpolate_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		const Scalar &	u,
		VectorRef	out ) const

virtual

Interpolation operation.

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< Base::Scalar >.

Definition at line 81 of file tangent-bundle.hxx.

◆ getBasePoint()

template<class Base>

template<typename Point>

Point::ConstSegmentReturnType proxsuite::nlp::TangentBundleTpl< Base >::getBasePoint ( const Point & x ) const

inline

Get base point of an element of the tangent bundle. This map is exactly the natural projection.

Definition at line 65 of file tangent-bundle.hpp.

◆ getBasePointWrite()

template<class Base>

template<typename Point>

Point::SegmentReturnType proxsuite::nlp::TangentBundleTpl< Base >::getBasePointWrite ( const Point & x ) const

inline

Definition at line 70 of file tangent-bundle.hpp.

◆ getBaseTangent()

template<class Base>

template<typename Tangent>

Tangent::ConstSegmentReturnType proxsuite::nlp::TangentBundleTpl< Base >::getBaseTangent ( const Tangent & v ) const

inline

Definition at line 76 of file tangent-bundle.hpp.

◆ getTangentHeadWrite()

template<class Base>

template<typename Tangent>

Tangent::SegmentReturnType proxsuite::nlp::TangentBundleTpl< Base >::getTangentHeadWrite ( const Tangent & v ) const

inline

Definition at line 82 of file tangent-bundle.hpp.

◆ getBaseJacobian()

template<class Base>

template<typename Jac>

Eigen::Block< Jac, Eigen::Dynamic, Eigen::Dynamic > proxsuite::nlp::TangentBundleTpl< Base >::getBaseJacobian ( const Jac & J ) const

inline

Definition at line 88 of file tangent-bundle.hpp.

Member Data Documentation

◆ base_

template<class Base>

Base proxsuite::nlp::TangentBundleTpl< Base >::base_

protected

Definition at line 14 of file tangent-bundle.hpp.

◆ Options

template<class Base>

int proxsuite::nlp::TangentBundleTpl< Base >::Options = Base::Options

staticconstexpr

Definition at line 19 of file tangent-bundle.hpp.

◆ Scalar

template<class Base>

proxsuite::nlp::TangentBundleTpl< Base >::Scalar

Definition at line 20 of file tangent-bundle.hpp.

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

include/proxsuite-nlp/fwd.hpp
include/proxsuite-nlp/modelling/spaces/tangent-bundle.hpp
include/proxsuite-nlp/modelling/spaces/tangent-bundle.hxx

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Self

◆ Scalar

Constructor & Destructor Documentation

◆ TangentBundleTpl() [1/2]

◆ TangentBundleTpl() [2/2]

Member Function Documentation

◆ nx()

◆ ndx()

◆ neutral()

◆ rand()

◆ isNormalized()

◆ getBaseSpace()

◆ integrate_impl()

◆ difference_impl()

◆ Jintegrate_impl()

◆ JintegrateTransport()

◆ Jdifference_impl()

◆ interpolate_impl()

◆ getBasePoint()

◆ getBasePointWrite()

◆ getBaseTangent()

◆ getTangentHeadWrite()

◆ getBaseJacobian()

Member Data Documentation

◆ base_

◆ Options

◆ Scalar