From 29c25970adf5246f37e0357bfba32d642775b3b3 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 6 Feb 2023 01:03:33 -0800
Subject: [PATCH] support 4 concept asserts

---
 gtsam/base/concepts.h  |  3 +++
 tests/testManifold.cpp | 24 ++++++++++++------------
 2 files changed, 15 insertions(+), 12 deletions(-)

diff --git a/gtsam/base/concepts.h b/gtsam/base/concepts.h
index 8962dd28d..fe73e3c66 100644
--- a/gtsam/base/concepts.h
+++ b/gtsam/base/concepts.h
@@ -15,14 +15,17 @@
 #define GTSAM_CONCEPT_ASSERT1(concept) BOOST_CONCEPT_ASSERT((concept))
 #define GTSAM_CONCEPT_ASSERT2(concept) BOOST_CONCEPT_ASSERT((concept))
 #define GTSAM_CONCEPT_ASSERT3(concept) BOOST_CONCEPT_ASSERT((concept))
+#define GTSAM_CONCEPT_ASSERT4(concept) BOOST_CONCEPT_ASSERT((concept))
 #define GTSAM_CONCEPT_REQUIRES(concept, return_type) BOOST_CONCEPT_REQUIRES((concept), (return_type))
 #else 
 // These do something sensible:
 #define GTSAM_CONCEPT_USAGE(concept) void check##concept()
+// TODO(dellaert): would be nice if it was a single macro...
 #define GTSAM_CONCEPT_ASSERT(concept) concept checkConcept [[maybe_unused]];
 #define GTSAM_CONCEPT_ASSERT1(concept) concept checkConcept1 [[maybe_unused]];
 #define GTSAM_CONCEPT_ASSERT2(concept) concept checkConcept2 [[maybe_unused]];
 #define GTSAM_CONCEPT_ASSERT3(concept) concept checkConcept3 [[maybe_unused]];
+#define GTSAM_CONCEPT_ASSERT4(concept) concept checkConcept4 [[maybe_unused]];
 // This one just ignores concept for now:
 #define GTSAM_CONCEPT_REQUIRES(concept, return_type) return_type
 #endif
diff --git a/tests/testManifold.cpp b/tests/testManifold.cpp
index 5e93da2f5..6b853061b 100644
--- a/tests/testManifold.cpp
+++ b/tests/testManifold.cpp
@@ -38,26 +38,26 @@ typedef PinholeCamera<Cal3Bundler> Camera;
 //******************************************************************************
 TEST(Manifold, SomeManifoldsGTSAM) {
   //GTSAM_CONCEPT_ASSERT(IsManifold<int>); // integer is not a manifold
-  GTSAM_CONCEPT_ASSERT(IsManifold<Camera>);
-  GTSAM_CONCEPT_ASSERT(IsManifold<Cal3_S2>);
-  GTSAM_CONCEPT_ASSERT(IsManifold<Cal3Bundler>);
-  GTSAM_CONCEPT_ASSERT(IsManifold<Camera>);
+  GTSAM_CONCEPT_ASSERT1(IsManifold<Camera>);
+  GTSAM_CONCEPT_ASSERT2(IsManifold<Cal3_S2>);
+  GTSAM_CONCEPT_ASSERT3(IsManifold<Cal3Bundler>);
+  GTSAM_CONCEPT_ASSERT4(IsManifold<Camera>);
 }
 
 //******************************************************************************
 TEST(Manifold, SomeLieGroupsGTSAM) {
-  GTSAM_CONCEPT_ASSERT(IsLieGroup<Rot2>);
-  GTSAM_CONCEPT_ASSERT(IsLieGroup<Pose2>);
-  GTSAM_CONCEPT_ASSERT(IsLieGroup<Rot3>);
-  GTSAM_CONCEPT_ASSERT(IsLieGroup<Pose3>);
+  GTSAM_CONCEPT_ASSERT1(IsLieGroup<Rot2>);
+  GTSAM_CONCEPT_ASSERT2(IsLieGroup<Pose2>);
+  GTSAM_CONCEPT_ASSERT3(IsLieGroup<Rot3>);
+  GTSAM_CONCEPT_ASSERT4(IsLieGroup<Pose3>);
 }
 
 //******************************************************************************
 TEST(Manifold, SomeVectorSpacesGTSAM) {
-  GTSAM_CONCEPT_ASSERT(IsVectorSpace<double>);
-  GTSAM_CONCEPT_ASSERT(IsVectorSpace<float>);
-  GTSAM_CONCEPT_ASSERT(IsVectorSpace<Point2>);
-  GTSAM_CONCEPT_ASSERT(IsVectorSpace<Matrix24>);
+  GTSAM_CONCEPT_ASSERT1(IsVectorSpace<double>);
+  GTSAM_CONCEPT_ASSERT2(IsVectorSpace<float>);
+  GTSAM_CONCEPT_ASSERT3(IsVectorSpace<Point2>);
+  GTSAM_CONCEPT_ASSERT4(IsVectorSpace<Matrix24>);
 }
 
 //******************************************************************************