Program Listing for File RnTangent_base.h

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#ifndef _MANIF_MANIF_RNTANGENT_BASE_H_
#define _MANIF_MANIF_RNTANGENT_BASE_H_

#include "manif/impl/rn/Rn_properties.h"
#include "manif/impl/tangent_base.h"

namespace manif {

//
// Tangent
//

template <typename _Derived>
struct RnTangentBase : TangentBase<_Derived>
{
private:

  using Base = TangentBase<_Derived>;
  using Type = RnTangentBase<_Derived>;

public:

  MANIF_TANGENT_TYPEDEF
  MANIF_INHERIT_TANGENT_OPERATOR
  using Base::coeffs;

protected:

  using Base::derived;

  MANIF_DEFAULT_CONSTRUCTOR(RnTangentBase)

public:

  MANIF_TANGENT_ML_ASSIGN_OP(RnTangentBase)

  // Tangent common API


  LieAlg hat() const;

  LieGroup exp(OptJacobianRef J_m_t = {}) const;

  MANIF_DEPRECATED
  LieGroup retract(OptJacobianRef J_m_t = {}) const;

  Jacobian rjac() const;

  Jacobian ljac() const;

  Jacobian rjacinv() const;

  Jacobian ljacinv() const;

  Jacobian smallAdj() const;

  // RnTangent specific API
};

template <typename _Derived>
typename RnTangentBase<_Derived>::LieGroup
RnTangentBase<_Derived>::exp(OptJacobianRef J_m_t) const
{
  if (J_m_t)
  {
    J_m_t->setIdentity();
  }

  return LieGroup(coeffs());
}

template <typename _Derived>
typename RnTangentBase<_Derived>::LieGroup
RnTangentBase<_Derived>::retract(OptJacobianRef J_m_t) const
{
  return exp(J_m_t);
}

template <typename _Derived>
typename RnTangentBase<_Derived>::LieAlg
RnTangentBase<_Derived>::hat() const
{
  LieAlg t_hat = LieAlg::Zero();
  t_hat.template topRightCorner<Dim, 1>() = coeffs();
  return t_hat;
}

template <typename _Derived>
typename RnTangentBase<_Derived>::Jacobian
RnTangentBase<_Derived>::rjac() const
{
  static const Jacobian Jr = Jacobian::Identity();
  return Jr;
}

template <typename _Derived>
typename RnTangentBase<_Derived>::Jacobian
RnTangentBase<_Derived>::ljac() const
{
  static const Jacobian Jl = Jacobian::Identity();
  return Jl;
}

template <typename _Derived>
typename RnTangentBase<_Derived>::Jacobian
RnTangentBase<_Derived>::rjacinv() const
{
  return rjac();
}

template <typename _Derived>
typename RnTangentBase<_Derived>::Jacobian
RnTangentBase<_Derived>::ljacinv() const
{
  return ljac();
}

template <typename _Derived>
typename RnTangentBase<_Derived>::Jacobian
RnTangentBase<_Derived>::smallAdj() const
{
  static const Jacobian smallAdj = Jacobian::Zero();
  return smallAdj;
}

// RnTangent specific API

namespace internal {

template <typename Derived>
struct GeneratorEvaluator<RnTangentBase<Derived>>
{
  static typename RnTangentBase<Derived>::LieAlg
  run(const unsigned int i)
  {
    MANIF_CHECK(i<RnTangentBase<Derived>::DoF,
                "Index i must less than DoF!",
                invalid_argument);

    using LieAlg = typename RnTangentBase<Derived>::LieAlg;

    LieAlg Ei = LieAlg::Zero();

    Ei(i, RnTangentBase<Derived>::DoF) = 1;

    return Ei;
  }
};

template <typename Derived>
struct RandomEvaluatorImpl<RnTangentBase<Derived>>
{
  static void run(RnTangentBase<Derived>& m)
  {
    m.coeffs().setRandom();
  }
};

template <typename Derived>
struct BracketEvaluatorImpl<RnTangentBase<Derived>> {
  template <typename TL, typename TR>
  static typename Derived::Tangent run(const TL&, const TR&) {
    return Derived::Tangent::Zero();
  }
};

template <typename Derived>
struct VeeEvaluatorImpl<RnTangentBase<Derived>> {
  template <typename TL, typename TR>
  static void run(TL& t, const TR& v) {
    t.coeffs() = v.template topRightCorner<Derived::Dim, 1>();
  }
};

} // namespace internal
} // namespace manif

#endif // _MANIF_MANIF_RNTANGENT_BASE_H_