Standard Euclidean vector space. More...

#include <proxsuite-nlp/modelling/spaces/vector-space.hpp>

Inheritance diagram for proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >:

Collaboration diagram for proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >:

Public Types
enum	{ Dim = _Dim , Options = _Options }

using	Scalar = _Scalar

using	Base = ManifoldAbstractTpl<Scalar, Options>

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

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

Public Member Functions
template<int N = Dim, typename = typename std::enable_if_t<N == Eigen::Dynamic>>
	VectorSpaceTpl (const int dim)
	Default constructor where the dimension is supplied.

template<int N = Dim, typename = typename std::enable_if_t<N != Eigen::Dynamic>>
	VectorSpaceTpl ()
	Default constructor without arguments.

int	nx () const
	Get manifold representation dimension.

int	ndx () const
	Get manifold tangent space dimension.

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

void	Jintegrate_impl (const ConstVectorRef &, const ConstVectorRef &, MatrixRef Jout, int) const

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

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

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

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

Public Member Functions inherited from proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >
virtual	~ManifoldAbstractTpl ()=default

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

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

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

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

int	dim_

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

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

Detailed Description

template<typename _Scalar, int _Dim, int _Options>
struct proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >

Standard Euclidean vector space.

Definition at line 12 of file vector-space.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar , int _Dim, int _Options>

using proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::Scalar = _Scalar

Definition at line 13 of file vector-space.hpp.

◆ Base

template<typename _Scalar , int _Dim, int _Options>

using proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::Base = ManifoldAbstractTpl<Scalar, Options>

Definition at line 15 of file vector-space.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar , int _Dim, int _Options>

anonymous enum

Enumerator
Dim
Options

Definition at line 14 of file vector-space.hpp.

Constructor & Destructor Documentation

◆ VectorSpaceTpl() [1/2]

template<typename _Scalar , int _Dim, int _Options>

template<int N = Dim, typename = typename std::enable_if_t<N == Eigen::Dynamic>>

proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::VectorSpaceTpl ( const int dim )

inline

Default constructor where the dimension is supplied.

Definition at line 23 of file vector-space.hpp.

◆ VectorSpaceTpl() [2/2]

template<typename _Scalar , int _Dim, int _Options>

template<int N = Dim, typename = typename std::enable_if_t<N != Eigen::Dynamic>>

proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::VectorSpaceTpl ( )

inline

Default constructor without arguments.

This constructor is disabled for the dynamic-sized vectors.

Definition at line 30 of file vector-space.hpp.

Member Function Documentation

◆ nx()

template<typename _Scalar , int _Dim, int _Options>

int proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::nx ( ) const

inlinevirtual

Get manifold representation dimension.

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

Definition at line 32 of file vector-space.hpp.

◆ ndx()

template<typename _Scalar , int _Dim, int _Options>

int proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::ndx ( ) const

inlinevirtual

Get manifold tangent space dimension.

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

Definition at line 33 of file vector-space.hpp.

◆ integrate_impl()

template<typename _Scalar , int _Dim, int _Options>

void proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::integrate_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		VectorRef	out ) const

inlinevirtual

Perform the manifold integration operation.

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

Definition at line 39 of file vector-space.hpp.

◆ Jintegrate_impl()

template<typename _Scalar , int _Dim, int _Options>

void proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::Jintegrate_impl	(	const ConstVectorRef &	,
		const ConstVectorRef &	,
		MatrixRef	Jout,
		int	) const

inlinevirtual

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

Definition at line 44 of file vector-space.hpp.

◆ JintegrateTransport()

template<typename _Scalar , int _Dim, int _Options>

void proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::JintegrateTransport	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

inlinevirtual

Perform the parallel transport operation.

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

Definition at line 49 of file vector-space.hpp.

◆ difference_impl()

template<typename _Scalar , int _Dim, int _Options>

void proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::difference_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		VectorRef	out ) const

inlinevirtual

Implementation of the manifold retraction operation.

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

Definition at line 54 of file vector-space.hpp.

◆ Jdifference_impl()

template<typename _Scalar , int _Dim, int _Options>

void proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::Jdifference_impl	(	const ConstVectorRef &	,
		const ConstVectorRef &	,
		MatrixRef	Jout,
		int	arg ) const

inlinevirtual

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

Definition at line 59 of file vector-space.hpp.

◆ interpolate_impl()

template<typename _Scalar , int _Dim, int _Options>

void proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::interpolate_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		const Scalar &	u,
		VectorRef	out ) const

inlinevirtual

Interpolation operation.

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

Definition at line 73 of file vector-space.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar , int _Dim, int _Options>

proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::Scalar

Definition at line 16 of file vector-space.hpp.

◆ dim_

template<typename _Scalar , int _Dim, int _Options>

int proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >::dim_

Definition at line 18 of file vector-space.hpp.

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

include/proxsuite-nlp/fwd.hpp
include/proxsuite-nlp/modelling/spaces/vector-space.hpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ VectorSpaceTpl() [1/2]

◆ VectorSpaceTpl() [2/2]

Member Function Documentation

◆ nx()

◆ ndx()

◆ integrate_impl()

◆ Jintegrate_impl()

◆ JintegrateTransport()

◆ difference_impl()

◆ Jdifference_impl()

◆ interpolate_impl()

Member Data Documentation

◆ Scalar

◆ dim_