Trait Space

Source

pub trait Space {
    type Point: Clone;

    // Required methods
    fn dimension(&self, at: &Self::Point) -> usize;
    fn step(&self, at: &Self::Point, step: &[Scalar]) -> Option<Self::Point>;
    fn same(&self, a: &Self::Point, b: &Self::Point) -> bool;
}

Expand description

Where minimize’s points are, and how a step moves one: the variables themselves, a step added to them (Euclidean) — or a manifold, where a step is taken from a point along its tangent space (a pose by the exponential map of a twist, say), and the Jacobians evaluated at a point are by steps from that point.