diff --git a/CMakeLists.txt b/CMakeLists.txt
index 56a02951d207092021438fe025f3346a50b5432c..edf28deec4ee076a12c449cb1a3d7eb638154306 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -308,27 +308,27 @@ target_link_libraries(demo_proMP01
${LIBRARIES}
)
-add_executable(demo_Riemannian_cov_GMR_Mandel01
+add_executable(demo_Riemannian_SPD_GMR_Mandel01
${GFX2_SUPPORT_SOURCES}
- ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_cov_GMR_Mandel01.cpp
+ ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_SPD_GMR_Mandel01.cpp
)
-target_link_libraries(demo_Riemannian_cov_GMR_Mandel01
+target_link_libraries(demo_Riemannian_SPD_GMR_Mandel01
${LIBRARIES}
)
-add_executable(demo_Riemannian_cov_GMR01
+add_executable(demo_Riemannian_SPD_GMR01
${GFX2_SUPPORT_SOURCES}
- ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_cov_GMR01.cpp
+ ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_SPD_GMR01.cpp
)
-target_link_libraries(demo_Riemannian_cov_GMR01
+target_link_libraries(demo_Riemannian_SPD_GMR01
${LIBRARIES}
)
-add_executable(demo_Riemannian_cov_interp02
+add_executable(demo_Riemannian_SPD_interp02
${GFX2_SUPPORT_SOURCES}
- ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_cov_interp02.cpp
+ ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_SPD_interp02.cpp
)
-target_link_libraries(demo_Riemannian_cov_interp02
+target_link_libraries(demo_Riemannian_SPD_interp02
${LIBRARIES}
)
@@ -362,59 +362,59 @@ target_link_libraries(demo_Riemannian_pose_TPGMM01
${ARMADILLO_LIBRARIES}
)
-add_executable(demo_Riemannian_quat_infHorLQR01
+add_executable(demo_Riemannian_S3_infHorLQR01
${GFX2_SUPPORT_SOURCES}
- ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_quat_infHorLQR01.cpp
+ ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_S3_infHorLQR01.cpp
)
-target_link_libraries(demo_Riemannian_quat_infHorLQR01
+target_link_libraries(demo_Riemannian_S3_infHorLQR01
${LIBRARIES}
)
-add_executable(demo_Riemannian_quat_TPGMM01
+add_executable(demo_Riemannian_S3_TPGMM01
${GFX2_SUPPORT_SOURCES}
- ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_quat_TPGMM01.cpp
+ ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_S3_TPGMM01.cpp
)
-target_link_libraries(demo_Riemannian_quat_TPGMM01
+target_link_libraries(demo_Riemannian_S3_TPGMM01
${LIBRARIES}
)
-add_executable(demo_Riemannian_sphere_GMM01
+add_executable(demo_Riemannian_S2_GMM01
${GFX2_SUPPORT_SOURCES}
- ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_sphere_GMM01.cpp
+ ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_S2_GMM01.cpp
)
-target_link_libraries(demo_Riemannian_sphere_GMM01
+target_link_libraries(demo_Riemannian_S2_GMM01
${LIBRARIES}
)
-add_executable(demo_Riemannian_sphere_infHorLQR01
+add_executable(demo_Riemannian_S2_infHorLQR01
${GFX2_SUPPORT_SOURCES}
- ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_sphere_infHorLQR01.cpp
+ ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_S2_infHorLQR01.cpp
)
-target_link_libraries(demo_Riemannian_sphere_infHorLQR01
+target_link_libraries(demo_Riemannian_S2_infHorLQR01
${LIBRARIES}
)
-add_executable(demo_Riemannian_sphere_product01
+add_executable(demo_Riemannian_S2_product01
${GFX2_SUPPORT_SOURCES}
- ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_sphere_product01.cpp
+ ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_S2_product01.cpp
)
-target_link_libraries(demo_Riemannian_sphere_product01
+target_link_libraries(demo_Riemannian_S2_product01
${LIBRARIES}
)
-add_executable(demo_Riemannian_sphere_TPGMM01
+add_executable(demo_Riemannian_S2_TPGMM01
${GFX2_SUPPORT_SOURCES}
- ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_sphere_TPGMM01.cpp
+ ${PROJECT_SOURCE_DIR}/src/demo_Riemannian_S2_TPGMM01.cpp
)
-target_link_libraries(demo_Riemannian_sphere_TPGMM01
+target_link_libraries(demo_Riemannian_S2_TPGMM01
${LIBRARIES}
)
-add_executable(demo_TPbatchLQR01
+add_executable(demo_TPMPC01
${GFX2_SUPPORT_SOURCES}
- ${PROJECT_SOURCE_DIR}/src/demo_TPbatchLQR01.cpp
+ ${PROJECT_SOURCE_DIR}/src/demo_TPMPC01.cpp
)
-target_link_libraries(demo_TPbatchLQR01
+target_link_libraries(demo_TPMPC01
${LIBRARIES}
)
diff --git a/README.md b/README.md
index 9b7b6981786f848ded1336620e3c7f32042c3e53..1bf9458da4340c5346d2299f2b310bcd40e78377 100644
--- a/README.md
+++ b/README.md
@@ -15,6 +15,7 @@ This project builds a number of executables in the `build` folder, with the corr
| Filename | ref. | Description |
|----------|------|-------------|
| [demo_ergodicControl_2D01.cpp](./src/demo_ergodicControl_2D01.cpp) | [[5]](#ref-5) | 2D ergodic control with spectral multiscale coverage (SMC) algorithm |
+| [demo_ergodicControl_nD01.cpp](./src/demo_ergodicControl_nD01.cpp) | [[5]](#ref-5) | nD ergodic control with spectral multiscale coverage (SMC) algorithm |
| [demo_GMR01.cpp](./src/demo_GMR01.cpp) | [[5]](#ref-5) | Gaussian mixture model (GMM) and time-based Gaussian mixture regression (GMR) used for reproduction |
| [demo_GPR01.cpp](./src/demo_GPR01.cpp) | [[2]](#ref-2) | Gaussian process regression (GPR) |
| [demo_HSMM_batchLQR01.cpp](./src/demo_HSMM_batchLQR01.cpp) | [[2]](#ref-2) | Use of HSMM (with lognormal duration model) and batch LQR (with position only) for motion synthesis |
@@ -28,21 +29,21 @@ This project builds a number of executables in the `build` folder, with the corr
| [demo_online_GMM01.cpp](./src/demo_online_GMM01.cpp) | [[2]](#ref-2), [[6]](#ref-6) | Online GMM learning and LQR-based trajectory generation |
| [demo_online_HSMM01.cpp](./src/demo_online_HSMM01.cpp) | [[2]](#ref-2), [[6]](#ref-6) | Online HSMM learning and sampling with LQR-based trajectory generation |
| [demo_proMP01.cpp](./src/demo_proMP01.cpp) | [[5]](#ref-5) | Conditioning on trajectory distributions with ProMP |
-| [demo_Riemannian_cov_GMR01.cpp](./src/demo_Riemannian_cov_GMR01.cpp) | [[4]](#ref-4) | GMR with time as input and covariance data as output by relying on Riemannian manifold |
-| [demo_Riemannian_cov_interp02.cpp](./src/demo_Riemannian_cov_interp02.cpp) | [[4]](#ref-4) | Covariance interpolation on Riemannian manifold from a GMM with augmented covariances |
| [demo_Riemannian_pose_batchLQR01.cpp](./src/demo_Riemannian_pose_batchLQR01.cpp) | [[3]](#ref-3) | Linear quadratic regulation of pose by relying on Riemannian manifold and batch LQR (MPC without constraints) |
| [demo_Riemannian_pose_GMM01.cpp](./src/demo_Riemannian_pose_GMM01.cpp) | [[3]](#ref-3) | GMM for 3D position and unit quaternion data by relying on Riemannian manifold |
| [demo_Riemannian_pose_infHorLQR01.cpp](./src/demo_Riemannian_pose_infHorLQR01.cpp) | [[3]](#ref-3) | Linear quadratic regulation of pose by relying on Riemannian manifold and infinite-horizon LQR |
| [demo_Riemannian_pose_TPGMM01.cpp](./src/demo_Riemannian_pose_TPGMM01.cpp) | [[3]](#ref-3) | TP-GMM of pose (R3 x S3) with two frames |
-| [demo_Riemannian_quat_infHorLQR01.cpp](./src/demo_Riemannian_quat_infHorLQR01.cpp) | [[3]](#ref-3) | Linear quadratic regulation on hypersphere (orientation as unit quaternions) by relying on Riemannian manifold and infinite-horizon LQR |
-| [demo_Riemannian_quat_TPGMM01.cpp](./src/demo_Riemannian_quat_TPGMM01.cpp) | [[3]](#ref-3) | TP-GMM on S3 (unit quaternion) with two frames |
-| [demo_Riemannian_sphere_GMM01.cpp](./src/demo_Riemannian_sphere_GMM01.cpp) | [[3]](#ref-3) | GMM for data on a sphere by relying on Riemannian manifold |
-| [demo_Riemannian_sphere_infHorLQR01.cpp](./src/demo_Riemannian_sphere_infHorLQR01.cpp) | [[3]](#ref-3) | Linear quadratic regulation on a sphere by relying on Riemannian manifold and infinite-horizon LQR |
-| [demo_Riemannian_sphere_product01.cpp](./src/demo_Riemannian_sphere_product01.cpp) | [[3]](#ref-3) | Gaussian product on sphere |
-| [demo_Riemannian_sphere_TPGMM01.cpp](./src/demo_Riemannian_sphere_TPGMM01.cpp) | [[3]](#ref-3) | TP-GMM for data on a sphere by relying on Riemannian manifold (with single frame) |
-| [demo_TPbatchLQR01.cpp](./src/demo_TPbatchLQR01.cpp) | [[1]](#ref-1) | Linear quadratic control (unconstrained linear MPC) acting in multiple frames, which is equivalent to the fusion of Gaussian controllers |
+| [demo_Riemannian_S2_GMM01.cpp](./src/demo_Riemannian_S2_GMM01.cpp) | [[3]](#ref-3) | GMM for data on a sphere by relying on Riemannian manifold |
+| [demo_Riemannian_S2_infHorLQR01.cpp](./src/demo_Riemannian_S2_infHorLQR01.cpp) | [[3]](#ref-3) | Linear quadratic regulation on a sphere by relying on Riemannian manifold and infinite-horizon LQR |
+| [demo_Riemannian_S2_product01.cpp](./src/demo_Riemannian_S2_product01.cpp) | [[3]](#ref-3) | Gaussian product on sphere |
+| [demo_Riemannian_S2_TPGMM01.cpp](./src/demo_Riemannian_S2_TPGMM01.cpp) | [[3]](#ref-3) | TP-GMM for data on a sphere by relying on Riemannian manifold (with single frame) |
+| [demo_Riemannian_S3_infHorLQR01.cpp](./src/demo_Riemannian_S3_infHorLQR01.cpp) | [[3]](#ref-3) | Linear quadratic regulation on hypersphere (orientation as unit quaternions) by relying on Riemannian manifold and infinite-horizon LQR |
+| [demo_Riemannian_S3_TPGMM01.cpp](./src/demo_Riemannian_S3_TPGMM01.cpp) | [[3]](#ref-3) | TP-GMM on S3 (unit quaternion) with two frames |
+| [demo_Riemannian_SPD_GMR01.cpp](./src/demo_Riemannian_SPD_GMR01.cpp) | [[4]](#ref-4) | GMR with time as input and covariance data as output by relying on Riemannian manifold |
+| [demo_Riemannian_SPD_interp02.cpp](./src/demo_Riemannian_SPD_interp02.cpp) | [[4]](#ref-4) | Covariance interpolation on Riemannian manifold from a GMM with augmented covariances |
| [demo_TPGMMProduct01.cpp](./src/demo_TPGMMProduct01.cpp) | [[1]](#ref-1) | Product of Gaussians for a Task-Parametrized GMM |
| [demo_TPGMR01.cpp](./src/demo_TPGMR01.cpp) | [[1]](#ref-1) | Task-Parametrized GMM with GMR (time as input), the model is able to adapt to continuously changing task parameters. |
+| [demo_TPMPC01.cpp](./src/demo_TPMPC01.cpp) | [[1]](#ref-1) | Linear quadratic control (unconstrained linear MPC) acting in multiple frames, which is equivalent to the fusion of Gaussian controllers |
### References
@@ -216,11 +217,11 @@ and compile as usual.
|  <br> [demo\_MPC\_batch01.cpp](./src/demo_MPC_batch01.cpp) |  <br> [demo\_MPC\_iterative01.cpp](./src/demo_MPC_iterative01.cpp) |
|  <br> [demo\_MPC\_semitied01.cpp](./src/demo_MPC_semitied01.cpp) |  <br> [demo\_MPC\_velocity01.cpp](./src/demo_MPC_velocity01.cpp) |
|  <br> [demo\_online\_GMM01.cpp](./src/demo_online_GMM01.cpp) |  <br> [demo\_proMP01.cpp](./src/demo_proMP01.cpp) |
-|  <br> [demo\_Riemannian\_cov\_GMR01.cpp](./src/demo_Riemannian_cov_GMR01.cpp) |  <br> [demo\_Riemannian\_cov\_interp02.cpp](./src/demo_Riemannian_cov_interp02.cpp) |
+|  <br> [demo\_Riemannian\_cov\_GMR01.cpp](./src/demo_Riemannian_SPD_GMR01.cpp) |  <br> [demo\_Riemannian\_cov\_interp02.cpp](./src/demo_Riemannian_SPD_interp02.cpp) |
|  <br> [demo\_Riemannian\_pose\_batchLQR01.cpp](./src/demo_Riemannian_pose_batchLQR01.cpp) |  <br> [demo\_Riemannian\_pose\_infHorLQR01.cpp](./src/demo_Riemannian_pose_infHorLQR01.cpp) |
-|  <br> [demo\_Riemannian\_quat\_infHorLQR01.cpp](./src/demo_Riemannian_quat_infHorLQR01.cpp) |  <br> [demo\_Riemannian\_quat\_TPGMM01.cpp](./src/demo_Riemannian_quat_TPGMM01.cpp) |
-|  <br> [demo\_Riemannian\_sphere\_GMM01.cpp](./src/demo_Riemannian_sphere_GMM01.cpp) |  <br> [demo\_Riemannian\_sphere\_infHorLQR01.cpp](./src/demo_Riemannian_sphere_infHorLQR01.cpp) |
-|  <br> [demo\_Riemannian\_sphere\_product01.cpp](./src/demo_Riemannian_sphere_product01.cpp) |  <br> [demo\_Riemannian\_sphere\_TPGMM01.cpp](./src/demo_Riemannian_sphere_TPGMM01.cpp) |
-|  <br> [demo\_TPbatchLQR01.cpp](./src/demo_TPbatchLQR01.cpp) |  <br> [demo\_TPGMMProduct01.cpp](./src/demo_TPGMMProduct01.cpp) |
+|  <br> [demo\_Riemannian\_quat\_infHorLQR01.cpp](./src/demo_Riemannian_S3_infHorLQR01.cpp) |  <br> [demo\_Riemannian\_quat\_TPGMM01.cpp](./src/demo_Riemannian_S3_TPGMM01.cpp) |
+|  <br> [demo\_Riemannian\_sphere\_GMM01.cpp](./src/demo_Riemannian_S2_GMM01.cpp) |  <br> [demo\_Riemannian\_sphere\_infHorLQR01.cpp](./src/demo_Riemannian_S2_infHorLQR01.cpp) |
+|  <br> [demo\_Riemannian\_sphere\_product01.cpp](./src/demo_Riemannian_S2_product01.cpp) |  <br> [demo\_Riemannian\_sphere\_TPGMM01.cpp](./src/demo_Riemannian_S2_TPGMM01.cpp) |
+|  <br> [demo\_TPMPC01.cpp](./src/demo_TPMPC01.cpp) |  <br> [demo\_TPGMMProduct01.cpp](./src/demo_TPGMMProduct01.cpp) |
|  <br> [demo\_TPGMR01.cpp](./src/demo_TPGMR01.cpp) | |
diff --git a/images/demo_Riemannian_sphere_GMM01.gif b/images/demo_Riemannian_S2_GMM01.gif
similarity index 100%
rename from images/demo_Riemannian_sphere_GMM01.gif
rename to images/demo_Riemannian_S2_GMM01.gif
diff --git a/images/demo_Riemannian_sphere_TPGMM01.gif b/images/demo_Riemannian_S2_TPGMM01.gif
similarity index 100%
rename from images/demo_Riemannian_sphere_TPGMM01.gif
rename to images/demo_Riemannian_S2_TPGMM01.gif
diff --git a/images/demo_Riemannian_sphere_infHorLQR01.gif b/images/demo_Riemannian_S2_infHorLQR01.gif
similarity index 100%
rename from images/demo_Riemannian_sphere_infHorLQR01.gif
rename to images/demo_Riemannian_S2_infHorLQR01.gif
diff --git a/images/demo_Riemannian_sphere_product01.gif b/images/demo_Riemannian_S2_product01.gif
similarity index 100%
rename from images/demo_Riemannian_sphere_product01.gif
rename to images/demo_Riemannian_S2_product01.gif
diff --git a/images/demo_Riemannian_quat_TPGMM01.gif b/images/demo_Riemannian_S3_TPGMM01.gif
similarity index 100%
rename from images/demo_Riemannian_quat_TPGMM01.gif
rename to images/demo_Riemannian_S3_TPGMM01.gif
diff --git a/images/demo_Riemannian_quat_infHorLQR01.png b/images/demo_Riemannian_S3_infHorLQR01.png
similarity index 100%
rename from images/demo_Riemannian_quat_infHorLQR01.png
rename to images/demo_Riemannian_S3_infHorLQR01.png
diff --git a/images/demo_Riemannian_cov_GMR01.gif b/images/demo_Riemannian_SPD_GMR01.gif
similarity index 100%
rename from images/demo_Riemannian_cov_GMR01.gif
rename to images/demo_Riemannian_SPD_GMR01.gif
diff --git a/images/demo_Riemannian_cov_interp02.gif b/images/demo_Riemannian_SPD_interp02.gif
similarity index 100%
rename from images/demo_Riemannian_cov_interp02.gif
rename to images/demo_Riemannian_SPD_interp02.gif
diff --git a/images/demo_TPbatchLQR01.gif b/images/demo_TPMPC01.gif
similarity index 100%
rename from images/demo_TPbatchLQR01.gif
rename to images/demo_TPMPC01.gif
diff --git a/src/demo_Riemannian_sphere_GMM01.cpp b/src/demo_Riemannian_S2_GMM01.cpp
similarity index 100%
rename from src/demo_Riemannian_sphere_GMM01.cpp
rename to src/demo_Riemannian_S2_GMM01.cpp
diff --git a/src/demo_Riemannian_sphere_TPGMM01.cpp b/src/demo_Riemannian_S2_TPGMM01.cpp
similarity index 100%
rename from src/demo_Riemannian_sphere_TPGMM01.cpp
rename to src/demo_Riemannian_S2_TPGMM01.cpp
diff --git a/src/demo_Riemannian_sphere_infHorLQR01.cpp b/src/demo_Riemannian_S2_infHorLQR01.cpp
similarity index 100%
rename from src/demo_Riemannian_sphere_infHorLQR01.cpp
rename to src/demo_Riemannian_S2_infHorLQR01.cpp
diff --git a/src/demo_Riemannian_sphere_product01.cpp b/src/demo_Riemannian_S2_product01.cpp
similarity index 100%
rename from src/demo_Riemannian_sphere_product01.cpp
rename to src/demo_Riemannian_S2_product01.cpp
diff --git a/src/demo_Riemannian_quat_TPGMM01.cpp b/src/demo_Riemannian_S3_TPGMM01.cpp
similarity index 100%
rename from src/demo_Riemannian_quat_TPGMM01.cpp
rename to src/demo_Riemannian_S3_TPGMM01.cpp
diff --git a/src/demo_Riemannian_quat_infHorLQR01.cpp b/src/demo_Riemannian_S3_infHorLQR01.cpp
similarity index 100%
rename from src/demo_Riemannian_quat_infHorLQR01.cpp
rename to src/demo_Riemannian_S3_infHorLQR01.cpp
diff --git a/src/demo_Riemannian_cov_GMR01.cpp b/src/demo_Riemannian_SPD_GMR01.cpp
similarity index 100%
rename from src/demo_Riemannian_cov_GMR01.cpp
rename to src/demo_Riemannian_SPD_GMR01.cpp
diff --git a/src/demo_Riemannian_cov_GMR_Mandel01.cpp b/src/demo_Riemannian_SPD_GMR_Mandel01.cpp
similarity index 100%
rename from src/demo_Riemannian_cov_GMR_Mandel01.cpp
rename to src/demo_Riemannian_SPD_GMR_Mandel01.cpp
diff --git a/src/demo_Riemannian_cov_interp02.cpp b/src/demo_Riemannian_SPD_interp02.cpp
similarity index 100%
rename from src/demo_Riemannian_cov_interp02.cpp
rename to src/demo_Riemannian_SPD_interp02.cpp
diff --git a/src/demo_TPbatchLQR01.cpp b/src/demo_TPMPC01.cpp
similarity index 100%
rename from src/demo_TPbatchLQR01.cpp
rename to src/demo_TPMPC01.cpp