void ExpMapQuaternion::applyDiffPseudoLog0_(
RefMat out, const ConstRefMat& in, const ConstRefVec& x, ReusableTemporaryMap& m)
{
mnf_assert(in.cols() == InputDim_ && "Dimensions mismatch" );
Eigen::Map<Eigen::MatrixXd, Eigen::Aligned> a = m.getMap(in.rows(),OutputDim_);
a.noalias() = in*diffPseudoLog0_(x);
out = a;
}
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 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);
}
