SubManifold< M > Class Template Reference

A Submanifold is a subspace of a manifold defined by an origin m0 and a tangent subspace. More...

#include <submanifold.hpp>

Public Member Functions
	SubManifold ()
	Construct with full tangent space.
	SubManifold (const M &m0, const M &m, Eigen::Ref< const Eigen::VectorXi > fixed_dims=Eigen::VectorXi::Zero(0))
	Create a sub-manifold of M defined as [ x \in M : x = x0 \oplus \sum_k \alpha_k e_{i_k}, \alpha_k \in R ] where k are the "active" dimensions.
	SubManifold (const M &m0, Eigen::Ref< const Eigen::VectorXi > fixed_dims)
	As above, but with m = m0.
const M &	m () const
	Access value in embedded space.
const M &	m0 () const
	Access origin in embedded space.
const Eigen::VectorXi &	fixed_dims () const
	Access active dimensions.
Eigen::Index	dof () const
	Degrees of freedom.
template<typename Derived >
SubManifold< M >	rplus (const Eigen::MatrixBase< Derived > &a) const
	Right-plus.
Eigen::Vector< typename traits::man< M >::Scalar, -1 >	rminus (const SubManifold< M > &other) const
	Right-minus.

Detailed Description

template<Manifold M>
class SubManifold< M >

A Submanifold is a subspace of a manifold defined by an origin m0 and a tangent subspace.

Definition at line 15 of file submanifold.hpp.

Constructor & Destructor Documentation

SubManifold() [1/3]

template<Manifold M>

SubManifold< M >::SubManifold ( )

inline

Construct with full tangent space.

Definition at line 21 of file submanifold.hpp.

SubManifold() [2/3]

template<Manifold M>

SubManifold< M >::SubManifold ( const M &  m0, const M &  m, Eigen::Ref< const Eigen::VectorXi >  fixed_dims = Eigen::VectorXi::Zero(0)  )

inline

Create a sub-manifold of M defined as [ x \in M : x = x0 \oplus \sum_k \alpha_k e_{i_k}, \alpha_k \in R ] where k are the "active" dimensions.

Parameters

m0	reference point
m	current value
fixed_dims	active dimensions

Note

Binary operations on SubManifold's require that both instance have identical reference points and active dimensions.

Definition at line 37 of file submanifold.hpp.

SubManifold() [3/3]

template<Manifold M>

SubManifold< M >::SubManifold ( const M &  m0, Eigen::Ref< const Eigen::VectorXi >  fixed_dims  )

inline

As above, but with m = m0.

Definition at line 49 of file submanifold.hpp.

Member Function Documentation

dof()

template<Manifold M>

Eigen::Index SubManifold< M >::dof ( ) const

inline

Degrees of freedom.

Definition at line 61 of file submanifold.hpp.

fixed_dims()

template<Manifold M>

const Eigen::VectorXi & SubManifold< M >::fixed_dims ( ) const

inline

Access active dimensions.

Definition at line 58 of file submanifold.hpp.

m()

template<Manifold M>

const M & SubManifold< M >::m ( ) const

inline

Access value in embedded space.

Definition at line 52 of file submanifold.hpp.

m0()

template<Manifold M>

const M & SubManifold< M >::m0 ( ) const

inline

Access origin in embedded space.

Definition at line 55 of file submanifold.hpp.

rminus()

template<Manifold M>

Eigen::Vector< typename traits::man< M >::Scalar, -1 > SubManifold< M >::rminus ( const SubManifold< M > &  other ) const

inline

Right-minus.

Definition at line 83 of file submanifold.hpp.

rplus()

template<Manifold M>

template<typename Derived >

SubManifold< M > SubManifold< M >::rplus ( const Eigen::MatrixBase< Derived > &  a ) const

inline

Right-plus.

Definition at line 65 of file submanifold.hpp.

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

• include/smooth/manifolds/submanifold.hpp