From 20ac6b85c8a1cf3ffba0606b741504bd9b6757f2 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Mon, 1 Mar 2010 21:56:13 +0000
Subject: [PATCH] Added static dim() functions to remaining geometry types so
 that dimensions can be calculated on size alone.

---
 cpp/Pose3.h | 3 +++
 cpp/Rot2.h  | 3 +++
 cpp/Rot3.h  | 3 +++
 3 files changed, 9 insertions(+)

diff --git a/cpp/Pose3.h b/cpp/Pose3.h
index 106e882c5..4db5ff3ee 100644
--- a/cpp/Pose3.h
+++ b/cpp/Pose3.h
@@ -61,6 +61,9 @@ namespace gtsam {
 
     Pose3 transform_to(const Pose3& pose) const;
 
+    /** get the dimension by the type */
+    static inline size_t dim() { return 6; };
+
   private:
     /** Serialization function */
     friend class boost::serialization::access;
diff --git a/cpp/Rot2.h b/cpp/Rot2.h
index 40e3858a3..12de03caa 100644
--- a/cpp/Rot2.h
+++ b/cpp/Rot2.h
@@ -75,6 +75,9 @@ namespace gtsam {
     /** rotate from world to rotated = R'*p */
     Point2 unrotate(const Point2& p) const;
 
+    /** get the dimension by the type */
+    static inline size_t dim() { return 1; };
+
   private:
     /** Serialization function */
     friend class boost::serialization::access;
diff --git a/cpp/Rot3.h b/cpp/Rot3.h
index f41bc7816..0c42dd09d 100644
--- a/cpp/Rot3.h
+++ b/cpp/Rot3.h
@@ -106,6 +106,9 @@ namespace gtsam {
      */
     Vector ypr() const;
 
+    /** get the dimension by the type */
+    static inline size_t dim() { return 3; };
+
   private:
     /** Serialization function */
     friend class boost::serialization::access;