refactor: sophus_core ==> {sophus_autodiff, sophus_spline, sophus_tensor, sophus_timeseries}

Cargo.toml

@@ -1,12 +1,15 @@
 [workspace]
 members = [
   "crates/sophus",
-  "crates/sophus_core",
-  "crates/sophus_lie",
+  "crates/sophus_autodiff",
+  "crates/sophus_tensor",
   "crates/sophus_image",
+  "crates/sophus_lie",
   "crates/sophus_geo",
+  "crates/sophus_spline",
   "crates/sophus_sensor",
   "crates/sophus_opt",
+  "crates/sophus_timeseries",
   "crates/sophus_renderer",
   "crates/sophus_viewer",
   "crates/sophus_sim",
@@ -23,12 +26,15 @@ version = "0.11.0"
 
 [workspace.dependencies]
 sophus = { path = "crates/sophus", version = "0.11.0" }
-sophus_core = { path = "crates/sophus_core", version = "0.11.0" }
+sophus_autodiff = { path = "crates/sophus_autodiff", version = "0.11.0" }
+sophus_tensor = { path = "crates/sophus_tensor", version = "0.11.0" }
 sophus_image = { path = "crates/sophus_image", version = "0.11.0" }
 sophus_lie = { path = "crates/sophus_lie", version = "0.11.0" }
 sophus_geo = { path = "crates/sophus_geo", version = "0.11.0" }
-sophus_opt = { path = "crates/sophus_opt", version = "0.11.0" }
+sophus_spline = { path = "crates/sophus_spline", version = "0.11.0" }
 sophus_sensor = { path = "crates/sophus_sensor", version = "0.11.0" }
+sophus_opt = { path = "crates/sophus_opt", version = "0.11.0" }
+sophus_timeseries = { path = "crates/sophus_timeseries", version = "0.11.0" }
 sophus_renderer = { path = "crates/sophus_renderer", version = "0.11.0" }
 sophus_sim = { path = "crates/sophus_sim", version = "0.11.0" }
 sophus_viewer = { path = "crates/sophus_viewer", version = "0.11.0" }

crates/sophus/Cargo.toml

@@ -11,7 +11,7 @@ repository.workspace = true
 version.workspace = true
 
 [dependencies]
-sophus_core.workspace = true
+sophus_autodiff.workspace = true
 sophus_geo.workspace = true
 sophus_image.workspace = true
 sophus_lie.workspace = true
@@ -37,14 +37,14 @@ wgpu.workspace = true
 
 [features]
 simd = [
-  "sophus_core/simd",
+  "sophus_autodiff/simd",
   "sophus_image/simd",
   "sophus_lie/simd",
   "sophus_opt/simd",
   "sophus_sensor/simd",
 ]
 std = [
-  "sophus_core/std",
+  "sophus_autodiff/std",
   "sophus_image/std",
   "sophus_lie/std",
   "sophus_opt/std",

crates/sophus/src/examples/viewer_example.rs

@@ -1,6 +1,6 @@
-use sophus_core::linalg::SVec;
-use sophus_core::linalg::VecF64;
-use sophus_core::prelude::IsVector;
+use sophus_autodiff::linalg::SVec;
+use sophus_autodiff::linalg::VecF64;
+use sophus_autodiff::prelude::IsVector;
 use sophus_image::arc_image::ArcImage4U8;
 use sophus_image::mut_image::MutImage4U8;
 use sophus_image::mut_image_view::IsMutImageView;

crates/sophus/src/lib.rs

@@ -3,7 +3,7 @@
 #![doc = include_str!(concat!("../", std::env!("CARGO_PKG_README")))]
 
 #[doc(inline)]
-pub use sophus_core as core;
+pub use sophus_autodiff as core;
 #[doc(inline)]
 pub use sophus_geo as geo;
 #[doc(inline)]

crates/sophus_core/Cargo.toml → crates/sophus_autodiff/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 description = "sophus - geometry for robotics and computer vision"
-name = "sophus_core"
+name = "sophus_autodiff"
 readme = "../../README.md"
 
 edition.workspace = true
@@ -12,7 +12,6 @@ version.workspace = true
 
 [dependencies]
 approx.workspace = true
-concat-arrays.workspace = true
 log.workspace = true
 nalgebra.workspace = true
 ndarray.workspace = true

crates/sophus_core/src/calculus/dual.rs → crates/sophus_autodiff/src/dual.rs

@@ -21,11 +21,11 @@ pub mod scalar;
 pub mod vector;
 
 #[cfg(feature = "simd")]
-pub use crate::calculus::dual::dual_batch_matrix::DualBatchMatrix;
+pub use crate::dual::dual_batch_matrix::DualBatchMatrix;
 #[cfg(feature = "simd")]
-pub use crate::calculus::dual::dual_batch_scalar::DualBatchScalar;
+pub use crate::dual::dual_batch_scalar::DualBatchScalar;
 #[cfg(feature = "simd")]
-pub use crate::calculus::dual::dual_batch_vector::DualBatchVector;
-pub use crate::calculus::dual::dual_matrix::DualMatrix;
-pub use crate::calculus::dual::dual_scalar::DualScalar;
-pub use crate::calculus::dual::dual_vector::DualVector;
+pub use crate::dual::dual_batch_vector::DualBatchVector;
+pub use crate::dual::dual_matrix::DualMatrix;
+pub use crate::dual::dual_scalar::DualScalar;
+pub use crate::dual::dual_vector::DualVector;

crates/sophus_core/src/calculus/dual/dual_batch_matrix.rs → crates/sophus_autodiff/src/dual/dual_batch_matrix.rs

@@ -1,5 +1,5 @@
-use crate::calculus::dual::dual_batch_scalar::DualBatchScalar;
-use crate::calculus::dual::DualBatchVector;
+use crate::dual::dual_batch_scalar::DualBatchScalar;
+use crate::dual::DualBatchVector;
 use crate::linalg::batch_mask::BatchMask;
 use crate::linalg::BatchMatF64;
 use crate::linalg::BatchScalarF64;

crates/sophus_core/src/calculus/dual/dual_batch_scalar.rs → crates/sophus_autodiff/src/dual/dual_batch_scalar.rs

@@ -1,6 +1,6 @@
 use super::dual_scalar::DualScalar;
-pub use crate::calculus::dual::dual_batch_matrix::DualBatchMatrix;
-pub use crate::calculus::dual::dual_batch_vector::DualBatchVector;
+pub use crate::dual::dual_batch_matrix::DualBatchMatrix;
+pub use crate::dual::dual_batch_vector::DualBatchVector;
 use crate::linalg::batch_mask::BatchMask;
 use crate::linalg::scalar::NumberCategory;
 use crate::linalg::BatchMatF64;

crates/sophus_core/src/calculus/dual/dual_batch_vector.rs → crates/sophus_autodiff/src/dual/dual_batch_vector.rs

@@ -1,7 +1,7 @@
 use super::vector::HasJacobian;
 use super::vector::VectorValuedDerivative;
-use crate::calculus::dual::dual_batch_scalar::DualBatchScalar;
-use crate::calculus::dual::DualBatchMatrix;
+use crate::dual::dual_batch_scalar::DualBatchScalar;
+use crate::dual::DualBatchMatrix;
 use crate::linalg::batch_mask::BatchMask;
 use crate::linalg::BatchMatF64;
 use crate::linalg::BatchScalarF64;

crates/sophus_core/src/calculus/dual/dual_matrix.rs → crates/sophus_autodiff/src/dual/dual_matrix.rs

@@ -1,5 +1,5 @@
-use crate::calculus::dual::DualScalar;
-use crate::calculus::dual::DualVector;
+use crate::dual::DualScalar;
+use crate::dual::DualVector;
 use crate::linalg::MatF64;
 use crate::linalg::SMat;
 use crate::prelude::*;

crates/sophus_core/src/calculus/dual/matrix.rs → crates/sophus_autodiff/src/dual/matrix.rs

@@ -59,12 +59,12 @@ pub trait IsDualMatrix<
 #[test]
 fn dual_matrix_tests() {
     #[cfg(feature = "simd")]
-    use crate::calculus::dual::DualBatchScalar;
-    use crate::calculus::dual::DualScalar;
-    use crate::calculus::maps::matrix_valued_maps::MatrixValuedMatrixMap;
+    use crate::dual::DualBatchScalar;
+    use crate::dual::DualScalar;
     #[cfg(feature = "simd")]
     use crate::linalg::BatchScalarF64;
     use crate::linalg::EPS_F64;
+    use crate::maps::matrix_valued_maps::MatrixValuedMatrixMap;
     use crate::prelude::IsScalar;
 
     #[cfg(test)]

crates/sophus_core/src/calculus/dual/scalar.rs → crates/sophus_autodiff/src/dual/scalar.rs

@@ -41,12 +41,12 @@ pub trait IsDualScalar<const BATCH: usize, const DM: usize, const DN: usize>:
 #[test]
 fn dual_scalar_tests() {
     #[cfg(feature = "simd")]
-    use crate::calculus::dual::DualBatchScalar;
-    use crate::calculus::dual::DualScalar;
-    use crate::calculus::maps::curves::ScalarValuedCurve;
+    use crate::dual::DualBatchScalar;
+    use crate::dual::DualScalar;
     #[cfg(feature = "simd")]
     use crate::linalg::BatchScalarF64;
     use crate::linalg::EPS_F64;
+    use crate::maps::curves::ScalarValuedCurve;
 
     trait DualScalarTest {
         fn run_dual_scalar_test();

crates/sophus_core/src/calculus/dual/vector.rs → crates/sophus_autodiff/src/dual/vector.rs

@@ -68,19 +68,18 @@ pub trait HasJacobian<
 
 #[test]
 fn dual_vector_tests() {
-    use crate::calculus::dual::dual_scalar::DualScalar;
-    use crate::calculus::maps::scalar_valued_maps::ScalarValuedVectorMap;
-    use crate::calculus::maps::vector_valued_maps::VectorValuedVectorMap;
+    use crate::dual::dual_scalar::DualScalar;
+    #[cfg(feature = "simd")]
+    use crate::dual::DualBatchScalar;
     use crate::linalg::vector::IsVector;
+    #[cfg(feature = "simd")]
+    use crate::linalg::BatchScalarF64;
     use crate::linalg::EPS_F64;
+    use crate::maps::scalar_valued_maps::ScalarValuedVectorMap;
+    use crate::maps::vector_valued_maps::VectorValuedVectorMap;
     use crate::points::example_points;
     use crate::prelude::IsScalar;
 
-    #[cfg(feature = "simd")]
-    use crate::calculus::dual::DualBatchScalar;
-    #[cfg(feature = "simd")]
-    use crate::linalg::BatchScalarF64;
-
     #[cfg(test)]
     trait Test {
         fn run();

crates/sophus_core/src/lib.rs → crates/sophus_autodiff/src/lib.rs

@@ -2,65 +2,46 @@
 #![deny(missing_docs)]
 #![no_std]
 #![allow(clippy::needless_range_loop)]
-//! Core math functionality including
+//! Automatic differentiation module
 //!  - linear algebra types
 //!      * such as [linalg::VecF64], and [linalg::MatF64]
 //!      * batch types such as [linalg::BatchScalarF64], [linalg::BatchVecF64],
 //!        [linalg::BatchMatF64] - require the `simd` feature
-//!  - tensors
-//!      * design: dynamic tensor (ndarray) of static tensors (nalgebra)
-//!  - differentiation tools
-//!      * dual numbers: [calculus::dual::DualScalar], [calculus::dual::DualVector],
+//!  - dual numbers: [calculus::dual::DualScalar], [calculus::dual::DualVector],
 //!        [calculus::dual::DualMatrix]
 //!      * [calculus::maps::curves] f: ℝ -> ℝ,   f: ℝ -> ℝʳ,   f: ℝ -> ℝʳ x ℝᶜ
 //!      * [calculus::maps::scalar_valued_maps]: f: ℝᵐ -> ℝ,   f: ℝᵐ x ℝⁿ -> ℝ
 //!      * [calculus::maps::vector_valued_maps]: f: ℝᵐ -> ℝᵖ,   f: ℝᵐ x ℝⁿ -> ℝᵖ
 //!      * [calculus::maps::matrix_valued_maps]: f: ℝᵐ -> ℝʳ x ℝᶜ,   f: ℝᵐ x ℝⁿ -> ℝʳ x ℝᶜ
-//!  - splines
-//!      * [calculus::spline::CubicBSpline]
-//!  - intervals, regions
-//!      * closed interval: [calculus::region::Interval]
-//!      * closed region: [calculus::region::Interval]
-//!  - manifolds: [manifold::traits]
 
 #[cfg(feature = "std")]
 extern crate std;
 
-/// calculus - differentiation, splines, and more
-pub mod calculus;
+/// dual numbers - for automatic differentiation
+pub mod dual;
 /// floating point
 pub mod floating_point;
-/// linear algebra types
+/// core linear algebra types
 pub mod linalg;
 /// manifolds
 pub mod manifold;
+/// curves, scalar-valued, vector-valued, and matrix-valued maps
+pub mod maps;
 /// params
 pub mod params;
 /// points
 pub mod points;
-/// time series
-pub mod time_series;
-
-pub use crate::manifold::*;
-pub use crate::params::*;
-pub use crate::points::*;
 
 pub use nalgebra;
 pub use ndarray;
 
-/// tensors
-pub mod tensor;
-pub use crate::tensor::arc_tensor::*;
-pub use crate::tensor::mut_tensor::*;
-pub use crate::tensor::mut_tensor_view::*;
-pub use crate::tensor::tensor_view::*;
+pub use crate::points::*;
 
-/// sophus_core prelude
+/// sophus_autodiff prelude
 pub mod prelude {
-    pub use crate::calculus::dual::matrix::IsDualMatrix;
-    pub use crate::calculus::dual::scalar::IsDualScalar;
-    pub use crate::calculus::dual::vector::IsDualVector;
-    pub use crate::calculus::region::IsRegion;
+    pub use crate::dual::matrix::IsDualMatrix;
+    pub use crate::dual::scalar::IsDualScalar;
+    pub use crate::dual::vector::IsDualVector;
     pub use crate::linalg::bool_mask::IsBoolMask;
     pub use crate::linalg::matrix::IsMatrix;
     pub use crate::linalg::matrix::IsRealMatrix;
@@ -72,10 +53,8 @@ pub mod prelude {
     pub use crate::linalg::vector::IsRealVector;
     pub use crate::linalg::vector::IsSingleVector;
     pub use crate::linalg::vector::IsVector;
-    pub use crate::manifold::traits::IsManifold;
+    pub use crate::manifold::IsManifold;
+    pub use crate::manifold::IsTangent;
     pub use crate::params::HasParams;
-    pub use crate::tensor::element::IsStaticTensor;
-    pub use crate::tensor::mut_tensor_view::IsMutTensorLike;
-    pub use crate::tensor::tensor_view::IsTensorLike;
-    pub use crate::tensor::tensor_view::IsTensorView;
+    pub use crate::params::IsParamsImpl;
 }

crates/sophus_core/src/linalg/batch_matrix.rs → crates/sophus_autodiff/src/linalg/batch_matrix.rs

@@ -1,4 +1,4 @@
-use crate::calculus::dual::DualBatchMatrix;
+use crate::dual::DualBatchMatrix;
 use crate::linalg::BatchMatF64;
 use crate::linalg::BatchScalarF64;
 use crate::linalg::BatchVecF64;

crates/sophus_core/src/linalg/batch_scalar.rs → crates/sophus_autodiff/src/linalg/batch_scalar.rs

@@ -1,6 +1,6 @@
-use crate::calculus::dual::DualBatchMatrix;
-use crate::calculus::dual::DualBatchScalar;
-use crate::calculus::dual::DualBatchVector;
+use crate::dual::DualBatchMatrix;
+use crate::dual::DualBatchScalar;
+use crate::dual::DualBatchVector;
 use crate::linalg::scalar::IsBatchScalar;
 use crate::linalg::scalar::NumberCategory;
 use crate::linalg::BatchMatF64;

crates/sophus_core/src/linalg/batch_vector.rs → crates/sophus_autodiff/src/linalg/batch_vector.rs

@@ -1,4 +1,4 @@
-use crate::calculus::dual::DualBatchVector;
+use crate::dual::DualBatchVector;
 use crate::linalg::BatchMatF64;
 use crate::linalg::BatchScalarF64;
 use crate::linalg::BatchVecF64;

crates/sophus_core/src/linalg/matrix.rs → crates/sophus_autodiff/src/linalg/matrix.rs

@@ -1,4 +1,4 @@
-use crate::calculus::dual::DualMatrix;
+use crate::dual::dual_matrix::DualMatrix;
 use crate::linalg::MatF64;
 use crate::linalg::VecF64;
 use crate::prelude::*;

crates/sophus_core/src/linalg/scalar.rs → crates/sophus_autodiff/src/linalg/scalar.rs

@@ -1,6 +1,6 @@
-use crate::calculus::dual::DualMatrix;
-use crate::calculus::dual::DualScalar;
-use crate::calculus::dual::DualVector;
+use crate::dual::dual_matrix::DualMatrix;
+use crate::dual::dual_scalar::DualScalar;
+use crate::dual::dual_vector::DualVector;
 use crate::linalg::MatF64;
 use crate::linalg::VecF64;
 use crate::linalg::EPS_F64;

crates/sophus_core/src/linalg/vector.rs → crates/sophus_autodiff/src/linalg/vector.rs

@@ -1,4 +1,4 @@
-use crate::calculus::dual::DualVector;
+use crate::dual::dual_vector::DualVector;
 use crate::linalg::MatF64;
 use crate::linalg::VecF64;
 use crate::prelude::*;

crates/sophus_core/src/manifold/traits.rs → crates/sophus_autodiff/src/manifold.rs

@@ -1,10 +1,10 @@
 use crate::linalg::VecF64;
-use crate::params::ParamsImpl;
-use crate::prelude::*;
+use crate::params::HasParams;
+use crate::prelude::IsScalar;
 extern crate alloc;
 
 /// A tangent implementation.
-pub trait TangentImpl<
+pub trait IsTangent<
     S: IsScalar<BATCH, DM, DN>,
     const DOF: usize,
     const BATCH: usize,
@@ -16,22 +16,6 @@ pub trait TangentImpl<
     fn tangent_examples() -> alloc::vec::Vec<S::Vector<DOF>>;
 }
 
-/// A manifold implementation.
-pub trait ManifoldImpl<
-    S: IsScalar<BATCH, DM, DN>,
-    const DOF: usize,
-    const PARAMS: usize,
-    const BATCH: usize,
-    const DM: usize,
-    const DN: usize,
->: ParamsImpl<S, PARAMS, BATCH, DM, DN> + TangentImpl<S, DOF, BATCH, DM, DN>
-{
-    /// o-plus operation.
-    fn oplus(params: &S::Vector<PARAMS>, tangent: &S::Vector<DOF>) -> S::Vector<PARAMS>;
-    /// o-minus operation.
-    fn ominus(params1: &S::Vector<PARAMS>, params2: &S::Vector<PARAMS>) -> S::Vector<DOF>;
-}
-
 /// A manifold.
 pub trait IsManifold<
     S: IsScalar<BATCH, DM, DN>,