def field_generator(self):
support = self._f_support(self.__manifold.gd)
vectors = self._f_vectors(self.__manifold.gd)
return StructuredField_0(support,
self.__controls * vectors,
self.__sigma,
device=self.device,
backend=self.backend)
def cot_to_vs(self, sigma, backend=None):
v0 = StructuredField_0(self.gd[0],
self.cotan[0],
sigma,
backend=backend)
R = torch.einsum('nik, njk->nij', self.cotan[1], self.gd[1])
vm = StructuredField_m(self.gd[0], R, sigma, backend=backend)
return SumStructuredField([v0, vm])
def cot_to_vs(self, sigma, backend=None):
v0 = StructuredField_0(self.gd[0],
self.cotan[0],
sigma,
device=self.device,
backend=backend)
if self.__transport == 'vector':
vu = StructuredField_0_u(self.gd[0], self.cotan[1], self.gd[1],
sigma)
else:
vu = StructuredField_0_u(self.gd[0], -self.gd[1], self.cotan[1],
sigma)
return SumStructuredField([v0, vu])
def compute_geodesic_control(self, man):
support = self._f_support(self.manifold.gd)
vectors = self._f_vectors(self.manifold.gd)
# vector field for control = 1
v = StructuredField_0(support,
vectors,
self.sigma,
device=self.device,
backend='torch')
K_q = K_xx(support, self.sigma)
m = torch.mm(K_q, vectors)
co = self.coeff * torch.dot(m.flatten(), vectors.flatten())
self.controls = man.inner_prod_field(v) / co
def field_generator(self):
return StructuredField_0(self.__manifold.gd,
self.__controls,
self.__sigma,
device=self.device,
backend=self.backend)
def field_generator(self):
return StructuredField_0(self.__manifold.gd[0], self.__controls.unsqueeze(1).repeat(1, self.dim)*self.__manifold.gd[1], self.__sigma, device=self.device, backend=self.backend)
def cot_to_vs(self, sigma, backend=None):
return StructuredField_0(self.gd,
self.cotan,
sigma,
device=self.device,
backend=backend)