Core Concepts

This section gathers the conceptual background needed to use geodex effectively. It starts with the geometric vocabulary that underpins the library, then describes how those ideas are encoded as C++20 concepts and policy types, and finally walks through the main algorithms that consume them. Readers already comfortable with Riemannian geometry can skip directly to the architecture and algorithm pages.

• Riemannian Geometry
• Concept Hierarchy and Architecture
• Discrete Geodesic Interpolation

See also

• geodex Basics for a hands-on walk-through with runnable C++ and Python snippets.

• Minimum-Energy Planning on Configuration Manifolds for composing KineticEnergyMetric and JacobiMetric to plan minimum-energy motions.

• API Reference for the full reference of every class and concept named here.