liealgebra.hpp

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#ifndef LIE_ALGEBRA
#define LIE_ALGEBRA
 
#include <Eigen/Dense>
#include <vector>
 
namespace HArDCore3D
{
  
  class LieAlgebra 
  {
  public:
 
    typedef Eigen::MatrixXcd LieAlgValue;
    typedef std::function<double(LieAlgValue &, LieAlgValue &)> LieAlgProduct; 
 
    LieAlgebra();
    LieAlgebra(std::vector<LieAlgValue> & basis, LieAlgProduct & product); 
 
    inline const size_t dimension() const
    {
      return m_basis.size();
    }
 
    inline const std::vector<LieAlgValue> & basis() const
    {
      return m_basis;
    }
 
    inline const Eigen::MatrixXd & massMatrix() const
    {
      return m_mass_matrix;
    }
 
    inline const LieAlgValue lieBracket(const LieAlgValue & A, const LieAlgValue & B) const
    {
      return A*B - B*A;
    }
    inline const std::vector<Eigen::MatrixXd> & structureConst() const
    {
      return m_strucConst;
    }
 
  private:
 
    Eigen::MatrixXd _compute_mass_matrix();
    std::vector<Eigen::MatrixXd> _compute_structure_constants();
 
    std::vector<LieAlgValue> m_basis;
    LieAlgProduct m_product;
    Eigen::MatrixXd m_mass_matrix;
    std::vector<Eigen::MatrixXd> m_strucConst;
  };
 
}
 
#endif