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Removed obsolete methods (but link error!)

release/4.3a0
dellaert 2014-12-09 01:04:21 +01:00
parent 449ba1f37a
commit 21b97ddedf
1 changed files with 6 additions and 13 deletions
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19
gtsam/geometry/Quaternion.h
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@ -11,7 +11,7 @@
/** /**
* @file Quaternion.h * @file Quaternion.h
* @brief Unit tests for unit quaternions * @brief Lie Group wrapper for Eigen Quaternions
* @author Frank Dellaert * @author Frank Dellaert
**/ **/
@ -34,6 +34,7 @@ struct MakeQuaternionChart: LieGroupChart<
typedef typename manifold::traits::TangentVector<Q>::type Omega; typedef typename manifold::traits::TangentVector<Q>::type Omega;
/// Exponential map given axis/angle representation of Lie algebra /// Exponential map given axis/angle representation of Lie algebra
/// TODO: obsolete? But see if not called now in Rot3Q
static Q Expmap(const _Scalar& angle, const Eigen::Ref<const Omega>& axis) { static Q Expmap(const _Scalar& angle, const Eigen::Ref<const Omega>& axis) {
return Q(Eigen::AngleAxis<_Scalar>(angle, axis)); return Q(Eigen::AngleAxis<_Scalar>(angle, axis));
} }
@ -48,11 +49,6 @@ struct MakeQuaternionChart: LieGroupChart<
} }
} }
/// retract, simply be converting omega to AngleAxis
static Q Retract(const Q& p, const Eigen::Ref<const Omega>& omega) {
return p * Expmap(omega);
}
/// We use our own Logmap, as there is a slight bug in Eigen /// We use our own Logmap, as there is a slight bug in Eigen
static Omega Logmap(const Q& q) { static Omega Logmap(const Q& q) {
using std::acos; using std::acos;
@ -79,18 +75,15 @@ struct MakeQuaternionChart: LieGroupChart<
return (angle / s) * q.vec(); return (angle / s) * q.vec();
} }
} }
/// local is our own, as there is a slight bug in Eigen
static Omega Local(const Q& q1, const Q& q2) {
return Logmap(q1.inverse() * q2);
}
}; };
// Define group traits
#define QUATERNION_TEMPLATE typename _Scalar, int _Options #define QUATERNION_TEMPLATE typename _Scalar, int _Options
#define QUATERNION_TYPE Eigen::Quaternion<_Scalar,_Options> #define QUATERNION_TYPE Eigen::Quaternion<_Scalar,_Options>
GTSAM_GROUP_IDENTITY(QUATERNION_TEMPLATE, QUATERNION_TYPE) GTSAM_GROUP_IDENTITY(QUATERNION_TEMPLATE, QUATERNION_TYPE)
GTSAM_MULTIPLICATIVE_GROUP(QUATERNION_TEMPLATE, QUATERNION_TYPE) GTSAM_MULTIPLICATIVE_GROUP(QUATERNION_TEMPLATE, QUATERNION_TYPE)
// Define manifold traits
#define QUATERNION_TANGENT Eigen::Matrix<_Scalar, 3, 1, _Options, 3, 1> #define QUATERNION_TANGENT Eigen::Matrix<_Scalar, 3, 1, _Options, 3, 1>
#define QUATERNION_CHART MakeQuaternionChart<_Scalar,_Options> #define QUATERNION_CHART MakeQuaternionChart<_Scalar,_Options>
GTSAM_MANIFOLD(QUATERNION_TEMPLATE, QUATERNION_TYPE, 3, QUATERNION_TANGENT, GTSAM_MANIFOLD(QUATERNION_TEMPLATE, QUATERNION_TYPE, 3, QUATERNION_TANGENT,
@ -98,8 +91,8 @@ GTSAM_MANIFOLD(QUATERNION_TEMPLATE, QUATERNION_TYPE, 3, QUATERNION_TANGENT,
/// Define Eigen::Quaternion to be a model of the Lie Group concept /// Define Eigen::Quaternion to be a model of the Lie Group concept
namespace traits { namespace traits {
template<typename S, int O> template<typename _Scalar, int _Options>
struct structure_category<Eigen::Quaternion<S, O> > { struct structure_category<Eigen::Quaternion<_Scalar,_Options> > {
typedef lie_group_tag type; typedef lie_group_tag type;
}; };
} }