bool Manifold::isInTxM(const ConstRefVec& x, const ConstRefVec& v, const double& prec) const { mnf_assert(isValid() || seeMessageAbove()); mnf_assert(v.size() == tangentDim_); mnf_assert(x.size() == representationDim()); return isInTxM_(x, v, prec); }
void Manifold::forceOnTxM(RefVec out, const ConstRefVec& in, const ConstRefVec& x) const { mnf_assert(isValid() || seeMessageAbove()); mnf_assert(out.size() == tangentDim_); mnf_assert(x.size() == representationDim()); mnf_assert(in.size() == tangentDim_); forceOnTxM_(out, in, x); }
void Manifold::pseudoLog(RefVec out, const ConstRefVec& x, const ConstRefVec& y) const { mnf_assert(isValid() || seeMessageAbove()); mnf_assert(out.size() == tangentDim_); mnf_assert(x.size() == representationDim_); mnf_assert(y.size() == representationDim_); pseudoLog_(out, x, y); }
void Manifold::retractation(RefVec out, const ConstRefVec& x, const ConstRefVec& v) const { mnf_assert(isValid() || seeMessageAbove()); mnf_assert(out.size() == representationDim_); mnf_assert(x.size() == representationDim_); mnf_assert(v.size() == tangentDim_); mnf_assert(isInTxM(x, v) && "Wrong tangent vector provided to retractation"); retractation_(out, x, v); }
void Manifold::applyTransport(RefMat out, const ConstRefMat& in, const ConstRefVec& x, const ConstRefVec& v) const { mnf_assert(isValid() || seeMessageAbove()); mnf_assert(in.rows() == tangentDim_); mnf_assert(out.rows() == tangentDim_); mnf_assert(in.cols() == out.cols()); mnf_assert(x.size() == representationDim()); mnf_assert(v.size() == tangentDim_); mnf_assert(isInTxM(x, v)); applyTransport_(out, in, x, v); }
void Manifold::forceOnM(RefVec out, const ConstRefVec& in) const { mnf_assert(isValid() || seeMessageAbove()); mnf_assert(out.size() == representationDim()); mnf_assert(in.size() == representationDim()); return forceOnM_(out, in); }
void Manifold::getIdentityOnTxM(RefMat out, const ConstRefVec& x) const { mnf_assert(out.rows() == tangentDim_); mnf_assert(out.cols() == tangentDim_); mnf_assert(x.size() == representationDim()); getIdentityOnTxM_(out, x); }
void Manifold::tangentConstraint(RefMat out, const ConstRefVec& x) const { mnf_assert(isValid() || seeMessageAbove()); mnf_assert(out.rows() == tangentDim_ - dimension_); mnf_assert(out.cols() == tangentDim_); mnf_assert(x.size() == representationDim()); tangentConstraint_(out, x); }
void Manifold::applyDiffPseudoLog0(RefMat out, const ConstRefMat& in, const ConstRefVec& x) const { mnf_assert(isValid() || seeMessageAbove()); mnf_assert(out.cols() == representationDim_); mnf_assert(in.cols() == tangentDim_); mnf_assert(in.rows() == out.rows()); mnf_assert(x.size() == representationDim_); applyDiffPseudoLog0_(out, in, x); }
void ExpMapQuaternion::exponential(OutputType& q, const ConstRefVec& v) { mnf_assert(v.size() == 3 && "Increment for expMap must be of size 3"); double n2 = v.squaredNorm(); // (theta)^2 (in Grassia) mnf_assert(sqrt(n2) < M_PI && "Increment for expMap must be of norm at most pi"); double s; // sin(theta/2)/theta in Grassia if (n2 < prec) { toQuat(q.data()).w() = 1 + (-1 + n2 / 48)*(n2/8);// cos(theta/2) in Grassia s = (1+(-1+0.0125*n2)*n2/24)/2; } else { double t = sqrt(n2); // theta (in Grassia) toQuat(q.data()).w() = cos(0.5*t); s = sin(0.5*t) / t; } toQuat(q.data()).vec() = s*v; }
Eigen::MatrixXd Manifold::diffPseudoLog0(const ConstRefVec& x) const { mnf_assert(isValid() || seeMessageAbove()); mnf_assert(x.size() == representationDim_); return diffPseudoLog0_(x); }
void Manifold::pseudoLog0(RefVec out, const ConstRefVec& x) const { mnf_assert(out.size() == tangentDim_); mnf_assert(x.size() == representationDim_); pseudoLog0_(out, x); }