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math

release/4.3a0
kartik arcot 2023-01-20 17:24:29 -08:00 committed by Frank Dellaert
parent 7ed0083928
commit 21305349a2
4 changed files with 10 additions and 14 deletions
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16
gtsam/base/types.h
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@ -234,27 +234,27 @@ namespace gtsam {
#if (_MSC_VER < 1800) #if (_MSC_VER < 1800)
#include <boost/math/special_functions/fpclassify.hpp> #include <cmath>
namespace std { namespace std {
template<typename T> inline int isfinite(T a) { template<typename T> inline int isfinite(T a) {
return (int)boost::math::isfinite(a); } return (int)std::isfinite(a); }
template<typename T> inline int isnan(T a) { template<typename T> inline int isnan(T a) {
return (int)boost::math::isnan(a); } return (int)std::isnan(a); }
template<typename T> inline int isinf(T a) { template<typename T> inline int isinf(T a) {
return (int)boost::math::isinf(a); } return (int)std::isinf(a); }
} }
#endif #endif
#include <boost/math/constants/constants.hpp> #include <cmath>
#ifndef M_PI #ifndef M_PI
#define M_PI (boost::math::constants::pi<double>()) #define M_PI (3.14159265358979323846)
#endif #endif
#ifndef M_PI_2 #ifndef M_PI_2
#define M_PI_2 (boost::math::constants::pi<double>() / 2.0) #define M_PI_2 (M_PI / 2.0)
#endif #endif
#ifndef M_PI_4 #ifndef M_PI_4
#define M_PI_4 (boost::math::constants::pi<double>() / 4.0) #define M_PI_4 (M_PI / 4.0)
#endif #endif
#endif #endif

4
gtsam/geometry/tests/testRot3.cpp
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@ -24,8 +24,6 @@
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/lieProxies.h> #include <gtsam/base/lieProxies.h>
#include <boost/math/constants/constants.hpp>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
using namespace std; using namespace std;
@ -197,7 +195,7 @@ TEST( Rot3, retract)
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Rot3, log) { TEST( Rot3, log) {
static const double PI = boost::math::constants::pi<double>(); static const double PI = std::acos(-1.0);
Vector w; Vector w;
Rot3 R; Rot3 R;

2
gtsam/nonlinear/ISAM2Params.h
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@ -21,7 +21,7 @@
#include <gtsam/linear/GaussianFactorGraph.h> #include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/nonlinear/DoglegOptimizerImpl.h> #include <gtsam/nonlinear/DoglegOptimizerImpl.h>
#include <boost/variant.hpp>
#include <string> #include <string>
namespace gtsam { namespace gtsam {

2
gtsam/nonlinear/ISAM2Result.h
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@ -27,8 +27,6 @@
#include <gtsam/nonlinear/ISAM2Params.h> #include <gtsam/nonlinear/ISAM2Params.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <boost/variant.hpp>
namespace gtsam { namespace gtsam {
/** /**