Partial support of the sparse matrices in roboptim-core-manifold. #7
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| } | ||
| for (int i = 0; i < jac.rows(); ++i) | ||
| { | ||
| std::cout << jac.row(i) << std::endl; |
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Why print to std::cout like this rather than doing the usual std::cout << output->str () << std::endl; at the end?
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Done in the update
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Do you explicitly check for the assumption you're making? |
| "the manifold is " << descWrap.manifold().name() << "\n" << | ||
| "Is the manifold elementary ? : " << | ||
| (descWrap.manifold().isElementary() ? "yes" : "no" ) << "\n" << | ||
| "the manifold dimension is " << descWrap.manifold().representationDim() << "\n"; |
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Note (even though that's not the focus of this PR): for better printing, RobOptim provides some handy indentation support. Also, to be even pickier, whitespace before punctuation is not valid in English.
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Ok about the exception throwing and type checking. I updated the pull request taking considering that. |
| iendl << "Is the manifold elementary? " << | ||
| (descWrap.manifold().isElementary() ? "yes" : "no" ) << | ||
| iendl << "the manifold dimension is " << descWrap.manifold().representationDim() | ||
| << decindent << iendl; |
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I think you can remove the iendl here (last line): the last CR is the responsibility of the function calling the print method (e.g. std::cout << my_object << std::endl). Here you would sometimes add trailing whitespaces for no reason.
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| throw std::runtime_error (error->str()); | ||
| } | ||
| { | ||
| std::stringstream* error = new std::stringstream; |
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What was the reason for using the heap here?
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There is no reason. Thanks for reporting it. It will be fixed in the next PR.
Warning: Underlying manifolds library does not support Sparse-based manifolds. The manifold_jacobian function therefore only partially supports Sparse inputs.
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Merging into master. |
Support of the sparse matrices in roboptim-core-manifold.
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👍 |
The goal is to make it possible for roboptim-core-manifold users to define and use all the tools of the project in a sparse environment.
The support is still partial because the jacobian on the tangent space can't be filled right now on libmanifolds side. No more assumptions done, the call to Dispatcher::applyDiff will simply fail (throwing an std::string) in Sparse mode. Note that this function is obviously never called when the user do not need to compute the jacobian on the tangent space of the manifold.