Trait ManifoldVariable 

pub trait ManifoldVariable:
    Send
    + Sync
    + 'static {
    // Required methods
    fn as_param_slice(&self) -> &[f64];
    fn dof(&self) -> usize;
    fn apply_tangent_step(&mut self, step: &[f64]);
    fn set_fixed_indices(&mut self, indices: HashSet<usize>);
    fn get_fixed_indices(&self) -> &HashSet<usize>;
    fn set_bounds(&mut self, bounds: HashMap<usize, (f64, f64)>);
    fn get_bounds(&self) -> &HashMap<usize, (f64, f64)>;
    fn manifold_type_name(&self) -> &'static str;
    fn set_covariance(&mut self, cov: Mat<f64>);
    fn covariance(&self) -> Option<&Mat<f64>>;
    fn clear_covariance(&mut self);
    fn to_dvector(&self) -> DVector<f64>;
    fn as_any(&self) -> &dyn Any;
    fn as_any_mut(&mut self) -> &mut dyn Any;
    fn clone_box(&self) -> Box<dyn ManifoldVariable>;

    // Provided methods
    fn free_dof(&self) -> usize { ... }
    fn local_free_offset(&self, local: usize) -> Option<usize> { ... }
    fn expand_free_step(&self, free_step: &[f64], out: &mut [f64]) { ... }
}

Object-safe trait covering all manifold variable types.

Replaces VariableEnum as the common type for HashMap<String, Box<dyn ManifoldVariable>>. One blanket impl covers all 8 manifold types; no per-manifold match arms needed.

Hot-path contract

as_param_slice, dof, and apply_tangent_step must never heap-allocate.

Required Methods

fn as_param_slice(&self) -> &[f64]

Zero-copy borrow of the parameter storage backing this variable.

fn dof(&self) -> usize

Tangent space dimension (degrees of freedom).

fn apply_tangent_step(&mut self, step: &[f64])

Apply a tangent-space step in-place: x ← x ⊞ δx. Fixed indices are zeroed before the retraction.

fn set_fixed_indices(&mut self, indices: HashSet<usize>)

fn get_fixed_indices(&self) -> &HashSet<usize>

fn set_bounds(&mut self, bounds: HashMap<usize, (f64, f64)>)

fn get_bounds(&self) -> &HashMap<usize, (f64, f64)>

fn manifold_type_name(&self) -> &'static str

Static name of the underlying manifold type (“SE3”, “SO3”, …).

fn set_covariance(&mut self, cov: Mat<f64>)

fn covariance(&self) -> Option<&Mat<f64>>

fn clear_covariance(&mut self)

fn to_dvector(&self) -> DVector<f64>

fn as_any(&self) -> &dyn Any

fn as_any_mut(&mut self) -> &mut dyn Any

fn clone_box(&self) -> Box<dyn ManifoldVariable>

Provided Methods

fn free_dof(&self) -> usize

Number of un-fixed tangent coordinates.

fn local_free_offset(&self, local: usize) -> Option<usize>

Map a local tangent index (0..dof()) to its offset within this variable’s free-column block, or None if that index is fixed.

fn expand_free_step(&self, free_step: &[f64], out: &mut [f64])

Expand a free-space step (length free_dof()) into a dof()-length buffer, writing 0.0 at every fixed local index in ascending order.

Trait Implementations

impl Clone for Box<dyn ManifoldVariable>

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

Dyn Compatibility

This trait is dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety".

Implementors

impl<M> ManifoldVariable for Variable<M>

where M: LieGroup + Clone + Send + Sync + 'static, M::TangentVector: Tangent<M> + Send + Sync + 'static,