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Remove vector in PointX headers

release/4.3a0
dellaert 2016-06-06 09:56:44 -07:00
parent 41b091e86f
commit 12d04abb1e
2 changed files with 5 additions and 5 deletions
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6
gtsam/geometry/Point2.h
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@ -43,7 +43,7 @@ public:
Point2() { setZero(); } Point2() { setZero(); }
#else #else
Point2() { Point2() {
throw std::runtime_error("Point2 default"); // throw std::runtime_error("Point2 default");
} }
#endif #endif
@ -153,9 +153,9 @@ public:
Point2 inverse() const { return -(*this);} Point2 inverse() const { return -(*this);}
Point2 compose(const Point2& q) const { return (*this)+q;} Point2 compose(const Point2& q) const { return (*this)+q;}
Point2 between(const Point2& q) const { return q-(*this);} Point2 between(const Point2& q) const { return q-(*this);}
Vector2 localCoordinates(const Point2& q) const { return between(q).vector();} Vector2 localCoordinates(const Point2& q) const { return between(q);}
Point2 retract(const Vector2& v) const { return compose(Point2(v));} Point2 retract(const Vector2& v) const { return compose(Point2(v));}
static Vector2 Logmap(const Point2& p) { return p.vector();} static Vector2 Logmap(const Point2& p) { return p;}
static Point2 Expmap(const Vector2& v) { return Point2(v);} static Point2 Expmap(const Vector2& v) { return Point2(v);}
inline double dist(const Point2& p2) const {return distance();} inline double dist(const Point2& p2) const {return distance();}
/// @} /// @}

4
gtsam/geometry/Point3.h
View File

@ -124,9 +124,9 @@ class GTSAM_EXPORT Point3 : public Vector3 {
Point3 inverse() const { return -(*this);} Point3 inverse() const { return -(*this);}
Point3 compose(const Point3& q) const { return (*this)+q;} Point3 compose(const Point3& q) const { return (*this)+q;}
Point3 between(const Point3& q) const { return q-(*this);} Point3 between(const Point3& q) const { return q-(*this);}
Vector3 localCoordinates(const Point3& q) const { return between(q).vector();} Vector3 localCoordinates(const Point3& q) const { return between(q);}
Point3 retract(const Vector3& v) const { return compose(Point3(v));} Point3 retract(const Vector3& v) const { return compose(Point3(v));}
static Vector3 Logmap(const Point3& p) { return p.vector();} static Vector3 Logmap(const Point3& p) { return p;}
static Point3 Expmap(const Vector3& v) { return Point3(v);} static Point3 Expmap(const Vector3& v) { return Point3(v);}
inline double dist(const Point3& q) const { return (q - *this).norm(); } inline double dist(const Point3& q) const { return (q - *this).norm(); }
Point3 normalize(OptionalJacobian<3, 3> H = boost::none) const { return normalized(H);} Point3 normalize(OptionalJacobian<3, 3> H = boost::none) const { return normalized(H);}