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removed DerivedValue<> inheritence from classes

release/4.3a0
Mike Bosse 2014-10-24 18:34:06 +02:00
parent 0681212084
commit 1fadda83e0
23 changed files with 40 additions and 57 deletions
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5
gtsam/base/LieMatrix.h
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@ -29,7 +29,7 @@ namespace gtsam {
/** /**
* LieVector is a wrapper around vector to allow it to be a Lie type * LieVector is a wrapper around vector to allow it to be a Lie type
*/ */
struct LieMatrix : public Matrix, public DerivedValue<LieMatrix> { struct LieMatrix : public Matrix {
/// @name Constructors /// @name Constructors
/// @{ /// @{
@ -166,8 +166,7 @@ private:
friend class boost::serialization::access; friend class boost::serialization::access;
template<class Archive> template<class Archive>
void serialize(Archive & ar, const unsigned int version) { void serialize(Archive & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("LieMatrix", ar & boost::serialization::make_nvp("LieMatrix",*this);
boost::serialization::base_object<Value>(*this));
ar & boost::serialization::make_nvp("Matrix", ar & boost::serialization::make_nvp("Matrix",
boost::serialization::base_object<Matrix>(*this)); boost::serialization::base_object<Matrix>(*this));

2
gtsam/base/LieScalar.h
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@ -26,7 +26,7 @@ namespace gtsam {
/** /**
* LieScalar is a wrapper around double to allow it to be a Lie type * LieScalar is a wrapper around double to allow it to be a Lie type
*/ */
struct GTSAM_EXPORT LieScalar : public DerivedValue<LieScalar> { struct GTSAM_EXPORT LieScalar {
/** default constructor */ /** default constructor */
LieScalar() : d_(0.0) {} LieScalar() : d_(0.0) {}

5
gtsam/base/LieVector.h
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@ -26,7 +26,7 @@ namespace gtsam {
/** /**
* LieVector is a wrapper around vector to allow it to be a Lie type * LieVector is a wrapper around vector to allow it to be a Lie type
*/ */
struct LieVector : public Vector, public DerivedValue<LieVector> { struct LieVector : public Vector {
/** default constructor - should be unnecessary */ /** default constructor - should be unnecessary */
LieVector() {} LieVector() {}
@ -123,8 +123,7 @@ private:
friend class boost::serialization::access; friend class boost::serialization::access;
template<class Archive> template<class Archive>
void serialize(Archive & ar, const unsigned int version) { void serialize(Archive & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("LieVector", ar & boost::serialization::make_nvp("LieVector",*this);
boost::serialization::base_object<Value>(*this));
ar & boost::serialization::make_nvp("Vector", ar & boost::serialization::make_nvp("Vector",
boost::serialization::base_object<Vector>(*this)); boost::serialization::base_object<Vector>(*this));
} }

5
gtsam/geometry/Cal3Bundler.h
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@ -28,7 +28,7 @@ namespace gtsam {
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Cal3Bundler: public DerivedValue<Cal3Bundler> { class GTSAM_EXPORT Cal3Bundler {
private: private:
double f_; ///< focal length double f_; ///< focal length
@ -173,8 +173,7 @@ private:
template<class Archive> template<class Archive>
void serialize(Archive & ar, const unsigned int version) { void serialize(Archive & ar, const unsigned int version) {
ar ar
& boost::serialization::make_nvp("Cal3Bundler", & boost::serialization::make_nvp("Cal3Bundler",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(f_); ar & BOOST_SERIALIZATION_NVP(f_);
ar & BOOST_SERIALIZATION_NVP(k1_); ar & BOOST_SERIALIZATION_NVP(k1_);
ar & BOOST_SERIALIZATION_NVP(k2_); ar & BOOST_SERIALIZATION_NVP(k2_);

5
gtsam/geometry/Cal3DS2.h
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@ -37,7 +37,7 @@ namespace gtsam {
* k3 (rr + 2 Pn.y^2) + 2*k4 pn.x pn.y ] * k3 (rr + 2 Pn.y^2) + 2*k4 pn.x pn.y ]
* pi = K*pn * pi = K*pn
*/ */
class GTSAM_EXPORT Cal3DS2 : public DerivedValue<Cal3DS2> { class GTSAM_EXPORT Cal3DS2 {
protected: protected:
@ -153,8 +153,7 @@ private:
template<class Archive> template<class Archive>
void serialize(Archive & ar, const unsigned int version) void serialize(Archive & ar, const unsigned int version)
{ {
ar & boost::serialization::make_nvp("Cal3DS2", ar & boost::serialization::make_nvp("Cal3DS2",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(fx_); ar & BOOST_SERIALIZATION_NVP(fx_);
ar & BOOST_SERIALIZATION_NVP(fy_); ar & BOOST_SERIALIZATION_NVP(fy_);
ar & BOOST_SERIALIZATION_NVP(s_); ar & BOOST_SERIALIZATION_NVP(s_);

5
gtsam/geometry/Cal3_S2.h
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@ -31,7 +31,7 @@ namespace gtsam {
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Cal3_S2: public DerivedValue<Cal3_S2> { class GTSAM_EXPORT Cal3_S2 {
private: private:
double fx_, fy_, s_, u0_, v0_; double fx_, fy_, s_, u0_, v0_;
@ -227,8 +227,7 @@ private:
template<class Archive> template<class Archive>
void serialize(Archive & ar, const unsigned int version) { void serialize(Archive & ar, const unsigned int version) {
ar ar
& boost::serialization::make_nvp("Cal3_S2", & boost::serialization::make_nvp("Cal3_S2",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(fx_); ar & BOOST_SERIALIZATION_NVP(fx_);
ar & BOOST_SERIALIZATION_NVP(fy_); ar & BOOST_SERIALIZATION_NVP(fy_);
ar & BOOST_SERIALIZATION_NVP(s_); ar & BOOST_SERIALIZATION_NVP(s_);

5
gtsam/geometry/CalibratedCamera.h
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@ -39,7 +39,7 @@ public:
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT CalibratedCamera: public DerivedValue<CalibratedCamera> { class GTSAM_EXPORT CalibratedCamera {
private: private:
Pose3 pose_; // 6DOF pose Pose3 pose_; // 6DOF pose
@ -215,8 +215,7 @@ private:
template<class Archive> template<class Archive>
void serialize(Archive & ar, const unsigned int version) { void serialize(Archive & ar, const unsigned int version) {
ar ar
& boost::serialization::make_nvp("CalibratedCamera", & boost::serialization::make_nvp("CalibratedCamera",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(pose_); ar & BOOST_SERIALIZATION_NVP(pose_);
} }

5
gtsam/geometry/EssentialMatrix.h
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@ -20,7 +20,7 @@ namespace gtsam {
* but here we choose instead to parameterize it as a (Rot3,Unit3) pair. * but here we choose instead to parameterize it as a (Rot3,Unit3) pair.
* We can then non-linearly optimize immediately on this 5-dimensional manifold. * We can then non-linearly optimize immediately on this 5-dimensional manifold.
*/ */
class GTSAM_EXPORT EssentialMatrix: public DerivedValue<EssentialMatrix> { class GTSAM_EXPORT EssentialMatrix {
private: private:
@ -176,8 +176,7 @@ private:
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) { void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("EssentialMatrix", ar & boost::serialization::make_nvp("EssentialMatrix",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(aRb_); ar & BOOST_SERIALIZATION_NVP(aRb_);
ar & BOOST_SERIALIZATION_NVP(aTb_); ar & BOOST_SERIALIZATION_NVP(aTb_);

2
gtsam/geometry/PinholeCamera.h
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@ -37,7 +37,7 @@ namespace gtsam {
* \nosubgrouping * \nosubgrouping
*/ */
template<typename Calibration> template<typename Calibration>
class PinholeCamera: public DerivedValue<PinholeCamera<Calibration> > { class PinholeCamera {
private: private:
Pose3 pose_; Pose3 pose_;
Calibration K_; Calibration K_;

5
gtsam/geometry/Point2.h
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@ -32,7 +32,7 @@ namespace gtsam {
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Point2 : public DerivedValue<Point2> { class GTSAM_EXPORT Point2 {
private: private:
@ -237,8 +237,7 @@ private:
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) void serialize(ARCHIVE & ar, const unsigned int version)
{ {
ar & boost::serialization::make_nvp("Point2", ar & boost::serialization::make_nvp("Point2",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(x_); ar & BOOST_SERIALIZATION_NVP(x_);
ar & BOOST_SERIALIZATION_NVP(y_); ar & BOOST_SERIALIZATION_NVP(y_);
} }

5
gtsam/geometry/Point3.h
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@ -36,7 +36,7 @@ namespace gtsam {
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Point3 : public DerivedValue<Point3> { class GTSAM_EXPORT Point3 {
private: private:
@ -228,8 +228,7 @@ namespace gtsam {
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) void serialize(ARCHIVE & ar, const unsigned int version)
{ {
ar & boost::serialization::make_nvp("Point3", ar & boost::serialization::make_nvp("Point3",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(x_); ar & BOOST_SERIALIZATION_NVP(x_);
ar & BOOST_SERIALIZATION_NVP(y_); ar & BOOST_SERIALIZATION_NVP(y_);
ar & BOOST_SERIALIZATION_NVP(z_); ar & BOOST_SERIALIZATION_NVP(z_);

5
gtsam/geometry/Pose2.h
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@ -33,7 +33,7 @@ namespace gtsam {
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Pose2 : public DerivedValue<Pose2> { class GTSAM_EXPORT Pose2 {
public: public:
@ -301,8 +301,7 @@ private:
friend class boost::serialization::access; friend class boost::serialization::access;
template<class Archive> template<class Archive>
void serialize(Archive & ar, const unsigned int version) { void serialize(Archive & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("Pose2", ar & boost::serialization::make_nvp("Pose2",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(t_); ar & BOOST_SERIALIZATION_NVP(t_);
ar & BOOST_SERIALIZATION_NVP(r_); ar & BOOST_SERIALIZATION_NVP(r_);
} }

5
gtsam/geometry/Pose3.h
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@ -39,7 +39,7 @@ class Pose2;
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Pose3: public DerivedValue<Pose3> { class GTSAM_EXPORT Pose3{
public: public:
/** Pose Concept requirements */ /** Pose Concept requirements */
@ -326,8 +326,7 @@ public:
friend class boost::serialization::access; friend class boost::serialization::access;
template<class Archive> template<class Archive>
void serialize(Archive & ar, const unsigned int version) { void serialize(Archive & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("Pose3", ar & boost::serialization::make_nvp("Pose3",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(R_); ar & BOOST_SERIALIZATION_NVP(R_);
ar & BOOST_SERIALIZATION_NVP(t_); ar & BOOST_SERIALIZATION_NVP(t_);
} }

5
gtsam/geometry/Rot2.h
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@ -31,7 +31,7 @@ namespace gtsam {
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Rot2 : public DerivedValue<Rot2> { class GTSAM_EXPORT Rot2 {
public: public:
/** get the dimension by the type */ /** get the dimension by the type */
@ -235,8 +235,7 @@ namespace gtsam {
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) { void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("Rot2", ar & boost::serialization::make_nvp("Rot2",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(c_); ar & BOOST_SERIALIZATION_NVP(c_);
ar & BOOST_SERIALIZATION_NVP(s_); ar & BOOST_SERIALIZATION_NVP(s_);
} }

5
gtsam/geometry/Rot3.h
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@ -58,7 +58,7 @@ namespace gtsam {
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT Rot3 : public DerivedValue<Rot3> { class GTSAM_EXPORT Rot3 {
private: private:
@ -456,8 +456,7 @@ namespace gtsam {
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) void serialize(ARCHIVE & ar, const unsigned int version)
{ {
ar & boost::serialization::make_nvp("Rot3", ar & boost::serialization::make_nvp("Rot3",*this);
boost::serialization::base_object<Value>(*this));
#ifndef GTSAM_USE_QUATERNIONS #ifndef GTSAM_USE_QUATERNIONS
ar & boost::serialization::make_nvp("rot11", rot_(0,0)); ar & boost::serialization::make_nvp("rot11", rot_(0,0));
ar & boost::serialization::make_nvp("rot12", rot_(0,1)); ar & boost::serialization::make_nvp("rot12", rot_(0,1));

5
gtsam/geometry/StereoCamera.h
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@ -36,7 +36,7 @@ public:
* A stereo camera class, parameterize by left camera pose and stereo calibration * A stereo camera class, parameterize by left camera pose and stereo calibration
* @addtogroup geometry * @addtogroup geometry
*/ */
class GTSAM_EXPORT StereoCamera : public DerivedValue<StereoCamera> { class GTSAM_EXPORT StereoCamera {
private: private:
Pose3 leftCamPose_; Pose3 leftCamPose_;
@ -147,8 +147,7 @@ private:
friend class boost::serialization::access; friend class boost::serialization::access;
template<class Archive> template<class Archive>
void serialize(Archive & ar, const unsigned int version) { void serialize(Archive & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("StereoCamera", ar & boost::serialization::make_nvp("StereoCamera",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(leftCamPose_); ar & BOOST_SERIALIZATION_NVP(leftCamPose_);
ar & BOOST_SERIALIZATION_NVP(K_); ar & BOOST_SERIALIZATION_NVP(K_);
} }

5
gtsam/geometry/StereoPoint2.h
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@ -28,7 +28,7 @@ namespace gtsam {
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT StereoPoint2 : public DerivedValue<StereoPoint2> { class GTSAM_EXPORT StereoPoint2 {
public: public:
static const size_t dimension = 3; static const size_t dimension = 3;
private: private:
@ -162,8 +162,7 @@ namespace gtsam {
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) { void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("StereoPoint2", ar & boost::serialization::make_nvp("StereoPoint2",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(uL_); ar & BOOST_SERIALIZATION_NVP(uL_);
ar & BOOST_SERIALIZATION_NVP(uR_); ar & BOOST_SERIALIZATION_NVP(uR_);
ar & BOOST_SERIALIZATION_NVP(v_); ar & BOOST_SERIALIZATION_NVP(v_);

5
gtsam/geometry/Unit3.h
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@ -27,7 +27,7 @@
namespace gtsam { namespace gtsam {
/// Represents a 3D point on a unit sphere. /// Represents a 3D point on a unit sphere.
class GTSAM_EXPORT Unit3: public DerivedValue<Unit3> { class GTSAM_EXPORT Unit3{
private: private:
@ -146,8 +146,7 @@ private:
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) { void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("Unit3", ar & boost::serialization::make_nvp("Unit3",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(p_); ar & BOOST_SERIALIZATION_NVP(p_);
ar & BOOST_SERIALIZATION_NVP(B_); ar & BOOST_SERIALIZATION_NVP(B_);
} }

5
gtsam/navigation/ImuBias.h
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@ -39,7 +39,7 @@ namespace gtsam {
/// All bias models live in the imuBias namespace /// All bias models live in the imuBias namespace
namespace imuBias { namespace imuBias {
class ConstantBias : public DerivedValue<ConstantBias> { class ConstantBias {
private: private:
Vector3 biasAcc_; Vector3 biasAcc_;
Vector3 biasGyro_; Vector3 biasGyro_;
@ -205,8 +205,7 @@ namespace imuBias {
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) void serialize(ARCHIVE & ar, const unsigned int version)
{ {
ar & boost::serialization::make_nvp("imuBias::ConstantBias", ar & boost::serialization::make_nvp("imuBias::ConstantBias",*this);
boost::serialization::base_object<Value>(*this));
ar & BOOST_SERIALIZATION_NVP(biasAcc_); ar & BOOST_SERIALIZATION_NVP(biasAcc_);
ar & BOOST_SERIALIZATION_NVP(biasGyro_); ar & BOOST_SERIALIZATION_NVP(biasGyro_);
} }

2
gtsam/nonlinear/tests/testValues.cpp
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@ -51,7 +51,7 @@ public:
}; };
int TestValueData::ConstructorCount = 0; int TestValueData::ConstructorCount = 0;
int TestValueData::DestructorCount = 0; int TestValueData::DestructorCount = 0;
class TestValue : public DerivedValue<TestValue> { class TestValue {
TestValueData data_; TestValueData data_;
public: public:
virtual void print(const std::string& str = "") const {} virtual void print(const std::string& str = "") const {}

2
gtsam_unstable/dynamics/PoseRTV.h
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@ -19,7 +19,7 @@ typedef Point3 Velocity3;
* Robot state for use with IMU measurements * Robot state for use with IMU measurements
* - contains translation, translational velocity and rotation * - contains translation, translational velocity and rotation
*/ */
class GTSAM_UNSTABLE_EXPORT PoseRTV : public DerivedValue<PoseRTV> { class GTSAM_UNSTABLE_EXPORT PoseRTV {
protected: protected:
Pose3 Rt_; Pose3 Rt_;

2
gtsam_unstable/geometry/BearingS2.h
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@ -15,7 +15,7 @@
namespace gtsam { namespace gtsam {
class GTSAM_UNSTABLE_EXPORT BearingS2 : public DerivedValue<BearingS2> { class GTSAM_UNSTABLE_EXPORT BearingS2 {
protected: protected:
Rot2 azimuth_, elevation_; Rot2 azimuth_, elevation_;

2
gtsam_unstable/geometry/Pose3Upright.h
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@ -22,7 +22,7 @@ namespace gtsam {
* @ingroup geometry * @ingroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_UNSTABLE_EXPORT Pose3Upright : public DerivedValue<Pose3Upright> { class GTSAM_UNSTABLE_EXPORT Pose3Upright {
public: public:
static const size_t dimension = 4; static const size_t dimension = 4;