manifold.hpp File Reference

#include <Eigen/Core>
#include "smooth/version.hpp"

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Concepts
concept	Manifold
	Class-external Manifold interface defined through the traits::man trait class.

Typedefs
template<Manifold M>
using	Scalar = typename traits::man< M >::Scalar
	Manifold scalar type.
template<Manifold M>
using	PlainObject = typename traits::man< M >::PlainObject
	Manifold default type.
template<typename NewScalar , Manifold M>
using	CastT = typename traits::man< M >::template CastT< NewScalar >
	Cast'ed type.
template<Manifold M>
using	Tangent = Eigen::Vector< Scalar< M >, Dof< M > >
	Tangent as a Dof-length vector.
template<Manifold M>
using	TangentMap = Eigen::Matrix< Scalar< M >, Dof< M >, Dof< M > >
	Matrix of size Dof x Dof.
template<Manifold M>
using	Hessian = Eigen::Matrix< Scalar< M >, Dof< M >,(Dof< M > > 0 ? Dof< M > *Dof< M > :-1)>
	Matrix of size Dof x Dof*Dof.

Functions
template<Manifold M>
PlainObject< M >	Default (Eigen::Index dof)
	Default-initialized Manifold.
template<Manifold M> requires (Dof<M> > 0)
PlainObject< M >	Default ()
	Default-initialized Manifold with static dof.
template<Manifold M>
Eigen::Index	dof (const M &m)
	Manifold degrees of freedom (tangent space dimension)
template<typename NewScalar , Manifold M>
CastT< NewScalar, M >	cast (const M &m)
	Cast to different scalar type.
template<Manifold M, typename Derived >
PlainObject< M >	rplus (const M &m, const Eigen::MatrixBase< Derived > &a)
	Manifold right-plus.
template<Manifold M, Manifold Mo>
Tangent< M >	rminus (const M &g1, const Mo &g2)
	Manifold right-minus.

Detailed Description

Manifold interface and free Manifold functions.

Definition in file manifold.hpp.

Typedef Documentation

CastT

template<typename NewScalar , Manifold M>

using CastT = typename traits::man<M>::template CastT<NewScalar>

Cast'ed type.

Definition at line 100 of file manifold.hpp.

Hessian

template<Manifold M>

using Hessian = Eigen::Matrix<Scalar<M>, Dof<M>, (Dof<M> > 0 ? Dof<M> * Dof<M> : -1)>

Matrix of size Dof x Dof*Dof.

Definition at line 118 of file manifold.hpp.

PlainObject

template<Manifold M>

using PlainObject = typename traits::man<M>::PlainObject

Manifold default type.

Definition at line 94 of file manifold.hpp.

Scalar

template<Manifold M>

using Scalar = typename traits::man<M>::Scalar

Manifold scalar type.

Definition at line 88 of file manifold.hpp.

Tangent

template<Manifold M>

using Tangent = Eigen::Vector<Scalar<M>, Dof<M> >

Tangent as a Dof-length vector.

Definition at line 106 of file manifold.hpp.

TangentMap

template<Manifold M>

using TangentMap = Eigen::Matrix<Scalar<M>, Dof<M>, Dof<M> >

Matrix of size Dof x Dof.

Definition at line 112 of file manifold.hpp.

Function Documentation

cast()

template<typename NewScalar , Manifold M>

CastT< NewScalar, M > cast ( const M &  m )

inline

Cast to different scalar type.

Definition at line 154 of file manifold.hpp.

Default() [1/2]

template<Manifold M>
requires (Dof<M> > 0)

PlainObject< M > Default ( )

inline

Default-initialized Manifold with static dof.

Definition at line 135 of file manifold.hpp.

Default() [2/2]

template<Manifold M>

PlainObject< M > Default ( Eigen::Index  dof )

inline

Default-initialized Manifold.

Definition at line 126 of file manifold.hpp.

dof()

template<Manifold M>

Eigen::Index dof ( const M &  m )

inline

Manifold degrees of freedom (tangent space dimension)

Definition at line 145 of file manifold.hpp.

rminus()

template<Manifold M, Manifold Mo>

Tangent< M > rminus ( const M &  g1, const Mo &  g2  )

inline

Manifold right-minus.

Definition at line 172 of file manifold.hpp.

rplus()

template<Manifold M, typename Derived >

PlainObject< M > rplus ( const M &  m, const Eigen::MatrixBase< Derived > &  a  )

inline

Manifold right-plus.

Definition at line 163 of file manifold.hpp.