UniformCorewiseGeometry.inner

t3toolbox.uniform_manifold.UniformCorewiseGeometry.inner(t1, t2)

def inner(
        self,
        t1: UT3Tangent,
        t2: UT3Tangent,
) -> NDArray:  # the Euclidean (coordinate) inner product, shape = stack_shape (K + C)

The Euclidean (coordinate) inner product of two tangents on the core parameter space.

The corewise dot of the variations – no orthogonal/gauge requirement (the (U, G, G, G) frame is non-orthonormal by design). Safe mode checks only that the two tangents share a frame. This is exactly UT3Tangent.corewise_inner().

Parameters:

• t1 (UT3Tangent)

• t2 (UT3Tangent)

Return type:

NDArray