tvm::Space Class Reference

#include <tvm/Space.h>

Public Types
enum	Type { Type::Euclidean, Type::SO3, Type::SE3, Type::Unspecified }

Public Member Functions
	Space (int size)
	Space (int size, int representationSize)
	Space (int size, int representationSize, int tangentRepresentationSize)
	Space (Type type, int size=-1)
std::unique_ptr< Variable >	createVariable (std::string_view name) const
int	size () const
int	rSize () const
int	tSize () const
Type	type () const
bool	isEuclidean () const
std::string	sizeAsString () const
bool	operator== (const Space &other) const
bool	operator!= (const Space &other) const
bool	operator<= (const Space &other) const

Friends
Space	operator* (const Space &s1, const Space &s2)

Detailed Description

Description of a variable space, and factory for Variable.

The space can have up to 3 different sizes, although Euclidean spaces will have only one :

• the size of the space as a manifold,
• the size of the vector needed to represent one variable (point) in this space (representation space, rsize),
• the size of the vector needed to represent a derivative (velocity, acceleration, ...) of this variable (tangent space, tsize).

Here are a few examples:

• R^n has a size, rsize and tsize of n,
• SO(3), the 3d rotation space, when represented by quaternions, has a size of 3, a rsize of 4 and a tsize of 3,
• S(2), the sphere in dimension 3 has a size of 2, and rsize and tsize of 3.

Member Enumeration Documentation

Type

enum tvm::Space::Type

strong

Predefined space types.

Enumerator
Euclidean
SO3	Euclidean space \( \mathbb{R}^n \).
SE3	Space of 3d rotations, represented by unit quaternions.
Unspecified	Space of 3d transformation, represented by a quaternion and a 3d-vector. Non-euclidean space of unknown type.

Constructor & Destructor Documentation

Space() [1/4]

tvm::Space::Space

(

int

size

)

Constructor for an Euclidean space

Parameters

size	size of the space

Space() [2/4]

tvm::Space::Space	(	int	size,
		int	representationSize
	)

Constructor for a manifold with tsize = size

Parameters

size	size of the space
representationSize	size of the vector needed to represent a variable

Space() [3/4]

tvm::Space::Space	(	int	size,
		int	representationSize,
		int	tangentRepresentationSize
	)

Constructor for a manifold where tsize != size

Parameters

size	size of the space
representationSize	size of the vector needed to represent a variable
tangentRepresentationSize	size of the vector needed to represent a derivative

Space() [4/4]

tvm::Space::Space	(	Type	type,
		int	size = -1
	)

Constructor for a given space type

Parameters

type	type of space
size	size of the space. Only for space types whose size is not fixed.

Member Function Documentation

createVariable()

std::unique_ptr<Variable> tvm::Space::createVariable

(

std::string_view

name

)

const

Factory function to create a variable.

isEuclidean()

bool tvm::Space::isEuclidean

(

)

const

Check if this is an Euclidean space.

operator!=()

bool tvm::Space::operator!= ( const Space &  other ) const

inline

operator<=()

bool tvm::Space::operator<= ( const Space &  other ) const

inline

operator==()

bool tvm::Space::operator== ( const Space &  other ) const

inline

rSize()

int tvm::Space::rSize

(

)

const

Size of the vector needed to represent a variable in this space.

size()

int tvm::Space::size

(

)

const

Size of the space (as a manifold)

sizeAsString()

std::string tvm::Space::sizeAsString

(

)

const

Return size triplet as string

tSize()

int tvm::Space::tSize

(

)

const

Size of the vector needed to represent a derivative in this space.

type()

Type tvm::Space::type

(

)

const

Type of the space.

Friends And Related Function Documentation

operator*

Space operator* ( const Space &  s1, const Space &  s2  )

friend

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

• include/tvm/Space.h