Struct Unimodular 

pub struct Unimodular<A, B = A>(/* private fields */);

A state acted on by the matrix exponential, X_{n+1} = exp(increment) X_n, staying on the unimodular group (det = 1) whenever the increment is trace-free. The state maps B → A while its algebra element maps A → A, so F_p (Reference → Intermediate) is Unimodular<Intermediate, Reference>.

Trait Implementations

impl<A, B> Integrable for Unimodular<A, B>

where TensorRank2<3, A, B, Dimensionless>: Tensor, TensorRank2<3, A, A, Dimensionless>: Tensor, for<'a> TensorRank2<3, A, A, Dimensionless>: Mul<&'a TensorRank2<3, A, B, Dimensionless>, Output = TensorRank2<3, A, B, Dimensionless>>,

type Point = TensorRank2<3, A, B>

The state value this field carries.

type Increment = TensorRank2<3, A, A>

The tangent/algebra element that advances a Self::Point.

fn reconstruct( base: &Self::Point, increment: &Self::Increment, ) -> Result<Self::Point, TensorError>

Advances base by increment.

fn dexpinv( sigma: &Self::Increment, increment: Self::Increment, ) -> Self::Increment

The RKMK correction: maps a rate-scaled increment to an algebra increment at the accumulated algebra element sigma. Flat fields are the identity.