map.h

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#ifndef GCOP_MAP_H
#define GCOP_MAP_H
#include <Eigen/Dense>
#include <assert.h>
#include <iostream>
#include "manifold.h"

namespace gcop {
  using namespace Eigen;
   template <typename T1, typename T2, int _n1 = Dynamic, int _n2 = Dynamic> class Manifoldmap {
     public: 
       typedef Matrix<double, _n1, 1> Vectorn1d;
       typedef Matrix<double, _n1, _n> Matrixn1d;

       typedef Matrix<double, _n2, 1> Vectorn2d;
       typedef Matrix<double, _n2, _n> Matrixn2d;

       typedef Matrix<double, _n1, _n2> Matrixn1n2d;

       int n1;//Input dimension
       int n2;//Output dimension

        Manifoldmap(int n1, int n2): n1(_n1 != Dynamic ? _n1 : n1), n2(_n2 != Dynamic ? _n2 : n2)
        {
        };

        virtual void map(const T1 &m1, T2 &m2, Matrixn1n2d *J = 0) = 0;
   }
}
#endif