Space.h

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#pragma once
 
#include <tvm/api.h>
#include <tvm/defs.h>
 
#include <Eigen/Core>
 
#include <memory>
#include <string>
#include <vector>
 
namespace tvm
{
class TVM_DLLAPI Space
{
public:
  enum class Type
  {
    Euclidean,  
    SO3,        
    SE3,        
    Unspecified 
  };
 
  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
  {
    return this->mSize_ == other.mSize_ && this->rSize_ == other.rSize_ && this->tSize_ == other.tSize_
           && this->type_ == other.type_;
  }
 
  bool operator!=(const Space & other) const { return !operator==(other); }
 
  bool operator<=(const Space & other) const
  { return this->mSize_ <= other.mSize_ && this->rSize_ <= other.rSize_ && this->tSize_ <= other.tSize_; }
 
  friend Space operator*(const Space & s1, const Space & s2)
  {
    Space prod{s1.mSize_ + s2.mSize_, s1.rSize_ + s2.rSize_, s1.tSize_ + s2.tSize_};
    if(s1.type_ == Space::Type::Euclidean && s2.type_ == Space::Type::Euclidean)
      prod.type_ = Space::Type::Euclidean;
    else
      prod.type_ = Space::Type::Unspecified;
    return prod;
  }
 
private:
  int mSize_; // size of this space (as a manifold)
  int rSize_; // size of a vector representing a point in this space
  int tSize_; // size of a vector representing a velocity in this space
  Type type_; // the space type
};
 
} // namespace tvm