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Better documentation

release/4.3a0
Frank Dellaert 2015-07-15 22:59:30 -07:00
parent 1a8a7235c2
commit 10a653ad7f
1 changed files with 27 additions and 14 deletions
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41
gtsam/geometry/BearingRange.h
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@ -25,16 +25,23 @@
namespace gtsam { namespace gtsam {
// forward declaration of Bearing functor, assumed partially specified // Forward declaration of Bearing functor which should be of A1*A2 -> return_type
// For example Bearing<Pose3,Point3>(pose,point), defined in Pose3.h will return Unit3
// At time of writing only Pose2 and Pose3 specialize this functor.
template <typename A1, typename A2> template <typename A1, typename A2>
struct Bearing; struct Bearing;
// forward declaration of Range functor, assumed partially specified // Forward declaration of Range functor which should be of A1*A2 -> return_type
// For example Range<Pose2,Pose2>(T1,T2), defined in Pose2.h will return double
// At time of writing Pose2, Pose3, and several Camera variants specialize this for several types
template <typename A1, typename A2> template <typename A1, typename A2>
struct Range; struct Range;
/** /**
* Bearing-Range product for a particular A1,A2 combination * Bearing-Range product for a particular A1,A2 combination will use the functors above to create
* a similar functor of type A1*A2 -> pair<Bearing::return_type,Range::return_type>
* For example BearingRange<Pose2,Point2>(pose,point) will return pair<Rot2,double>
* and BearingRange<Pose3,Point3>(pose,point) will return pair<Unit3,double>
*/ */
template <typename A1, typename A2> template <typename A1, typename A2>
struct BearingRange struct BearingRange
@ -88,31 +95,37 @@ struct BearingRange
friend class boost::serialization::access; friend class boost::serialization::access;
}; };
// Declare this to be both Testable and a Manifold
template <typename A1, typename A2> template <typename A1, typename A2>
struct traits<BearingRange<A1, A2> > struct traits<BearingRange<A1, A2> >
: Testable<BearingRange<A1, A2> >, : Testable<BearingRange<A1, A2> >,
internal::ManifoldTraits<BearingRange<A1, A2> > {}; internal::ManifoldTraits<BearingRange<A1, A2> > {};
// Helper class for to implement Range traits for classes with a bearing method // Helper class for to implement Range traits for classes with a bearing method
template <class A1, typename A2, class T> // For example, to specialize Bearing to Pose3 and Point3, using Pose3::bearing, it suffices to say
// template <> struct Bearing<Pose3, Point3> : HasBearing<Pose3, Point3, Unit3> {};
// where the third argument is used to indicate the return type
template <class A1, typename A2, class RT>
struct HasBearing { struct HasBearing {
typedef T result_type; typedef RT result_type;
T operator()( RT operator()(
const A1& a1, const A2& a2, const A1& a1, const A2& a2,
OptionalJacobian<traits<T>::dimension, traits<A1>::dimension> H1, OptionalJacobian<traits<RT>::dimension, traits<A1>::dimension> H1,
OptionalJacobian<traits<T>::dimension, traits<A2>::dimension> H2) { OptionalJacobian<traits<RT>::dimension, traits<A2>::dimension> H2) {
return a1.bearing(a2, H1, H2); return a1.bearing(a2, H1, H2);
} }
}; };
// Helper class for to implement Range traits for classes with a range method // Similar helper class for to implement Range traits for classes with a range method
template <class A1, typename A2, class T> // For classes with overloaded range methods, such as SimpleCamera, this can even be templated:
// template <typename T> struct Range<SimpleCamera, T> : HasRange<SimpleCamera, T, double> {};
template <class A1, typename A2, class RT>
struct HasRange { struct HasRange {
typedef T result_type; typedef RT result_type;
T operator()( RT operator()(
const A1& a1, const A2& a2, const A1& a1, const A2& a2,
OptionalJacobian<traits<T>::dimension, traits<A1>::dimension> H1, OptionalJacobian<traits<RT>::dimension, traits<A1>::dimension> H1,
OptionalJacobian<traits<T>::dimension, traits<A2>::dimension> H2) { OptionalJacobian<traits<RT>::dimension, traits<A2>::dimension> H2) {
return a1.range(a2, H1, H2); return a1.range(a2, H1, H2);
} }
}; };