manifold.h

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#ifndef GCOP_MANIFOLD_H
#define GCOP_MANIFOLD_H

#include <Eigen/Dense>
#include <assert.h>
#include <iostream>

namespace gcop {
  
  using namespace Eigen;
  template <typename T, int _n = Dynamic> class Manifold {
  public:
  typedef Matrix<double, _n, 1> Vectornd;
  typedef Matrix<double, _n, _n> Matrixnd;

  Manifold(int n = _n);
  

  virtual void Lift(Vectornd &v, const T &xa, const T &xb) = 0;
  
  
  virtual void Retract(T &xb, const T &xa, const Vectornd &v) = 0;


  virtual void dtau(Matrixnd &M, const Vectornd &v) { M.setIdentity(); };

  virtual void Adtau(Matrixnd &M, const Vectornd &v) {M.setIdentity(); };
   
  int n;  
  
  bool bnd;    
  T lb;        
  T ub;        

  };

  template <typename T, int _n>
    Manifold<T, _n>::Manifold(int n) : n(_n != Dynamic ? _n : n), bnd(false) {
  }
}

#endif