Merge branch 'feature/groups' into feature/tighteningTraits
dellaert
commit
2e86da1096
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@ -23,8 +23,9 @@ namespace traits {
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* @brief Associate a unique tag with each of the main GTSAM concepts
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*/
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//@{
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template <class T>
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struct structure_category {}; // specializations should be derived from one of the following tags
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template<class T>
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struct structure_category;
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// specializations should be derived from one of the following tags
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//@}
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/**
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@ -32,147 +33,179 @@ struct structure_category {}; // specializations should be derived from one of t
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* @brief Possible values for traits::structure_category<T>::type
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*/
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//@{
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struct manifold_tag {};
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struct group_tag {};
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struct lie_group_tag : public manifold_tag, public group_tag {};
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struct vector_space_tag : public lie_group_tag {};
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struct manifold_tag {
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};
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struct group_tag {
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};
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struct lie_group_tag: public manifold_tag, public group_tag {
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};
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struct vector_space_tag: public lie_group_tag {
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};
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//@}
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} // namespace traits
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}// namespace traits
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namespace traits {
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/** @name Manifold Traits */
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//@{
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template <class Manifold> struct TangentVector;
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template <class Manifold> struct DefaultChart;
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template<class Manifold> struct TangentVector;
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template<class Manifold> struct DefaultChart;
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//@}
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} // namespace traits
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}// namespace traits
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/*
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template<class T>
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class ManifoldConcept {
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template<class T>
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class ManifoldConcept {
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public:
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typedef T Manifold;
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typedef typename traits::TangentVector<T>::type TangentVector;
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typedef typename traits::DefaultChart<T>::type DefaultChart;
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static const size_t dim = traits::dimension<T>::value;
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typedef T Manifold;
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typedef typename traits::TangentVector<T>::type TangentVector;
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typedef typename traits::DefaultChart<T>::type DefaultChart;
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static const size_t dim = traits::dimension<T>::value;
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BOOST_CONCEPT_USAGE(ManifoldConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::manifold_tag, traits::structure<Manifold> >);
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BOOST_STATIC_ASSERT(TangentVector::SizeAtCompileTime == dim);
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// no direct usage for manifold since most usage is through a chart
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}
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BOOST_CONCEPT_USAGE(ManifoldConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::manifold_tag, traits::structure<Manifold> >);
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BOOST_STATIC_ASSERT(TangentVector::SizeAtCompileTime == dim);
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// no direct usage for manifold since most usage is through a chart
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}
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private:
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Manifold p;
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TangentVector v;
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};
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Manifold p;
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TangentVector v;
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};
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template<class C>
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class ChartConcept {
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template<class C>
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class ChartConcept {
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public:
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typedef C Chart;
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typedef typename traits::Manifold<Chart>::type Manifold;
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typedef typename traits::TangentVector<Manifold>::type TangentVector;
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typedef C Chart;
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typedef typename traits::Manifold<Chart>::type Manifold;
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typedef typename traits::TangentVector<Manifold>::type TangentVector;
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BOOST_CONCEPT_USAGE(ChartConcept) {
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v = Chart::local(p,q); // returns local coordinates of q w.r.t. origin p
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q = Chart::retract(p,v); // returns retracted update of p with v
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}
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BOOST_CONCEPT_USAGE(ChartConcept) {
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v = Chart::local(p,q); // returns local coordinates of q w.r.t. origin p
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q = Chart::retract(p,v); // returns retracted update of p with v
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}
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private:
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Manifold p,q;
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TangentVector v;
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Manifold p,q;
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TangentVector v;
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};
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*/
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};
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*/
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namespace group {
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/** @name Free functions any Group needs to define */
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//@{
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template<typename G> G compose(const G&g, const G& h);
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template<typename G> G between(const G&g, const G& h);
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template<typename G> G inverse(const G&g);
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//@}
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namespace traits {
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/** @name Group Traits */
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//@{
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template <class Group> struct identity {};
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template <class Group> struct group_flavor {};
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template<class G> struct identity;
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template<class G> struct flavor;
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//@}
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/** @name Group Flavor Tags */
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//@{
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struct additive_group_tag {};
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struct multiplicative_group_tag {};
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struct additive_tag {
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};
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struct multiplicative_tag {
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};
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//@}
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} // namespace traits
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} // \ namespace traits
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} // \ namespace group
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template<class G>
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class GroupConcept {
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public:
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typedef G Group;
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static const Group identity = traits::identity<G>::value;
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/**
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* Group Concept
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*/
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template<typename G>
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class Group {
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public:
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BOOST_CONCEPT_USAGE(GroupConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::group_tag,typename traits::structure_category<Group>::type>::value );
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Group ip = inverse(p);
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Group pq = compose(p, q);
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Group d = between(p, q);
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test = equal(p, q);
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test2 = operator_usage(p, q, traits::group_flavor<Group>::type);
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typedef typename traits::structure_category<G>::type structure_category_tag;
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typedef typename group::traits::identity<G>::value_type identity_value_type;
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typedef typename group::traits::flavor<G>::type flavor_tag;
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BOOST_CONCEPT_USAGE(Group) {
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using group::compose;
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using group::between;
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using group::inverse;
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BOOST_STATIC_ASSERT(
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boost::is_base_of<traits::group_tag, structure_category_tag>::value);
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e = group::traits::identity<G>::value;
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d = compose(g, h);
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d = between(g, h);
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ig = inverse(g);
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test = operator_usage(g, h, flavor);
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}
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bool check_invariants(const Group& a, const Group& b) {
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return (equal(compose(a, inverse(a)), identity))
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&& (equal(between(a, b), compose(inverse(a), b)))
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&& (equal(compose(a, between(a, b)), b))
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&& operator_usage(a, b, traits::group_flavor<Group>::type);
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}
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// TODO: these all require default constructors :-(
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// Also, requires equal which is not required of a group
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// Group():e(group::traits::identity<G>::value) {
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// }
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//
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// bool check_invariants(const G& a, const G& b) {
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// return (equal(compose(a, inverse(a)), e))
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// && (equal(between(a, b), compose(inverse(a), b)))
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// && (equal(compose(a, between(a, b)), b))
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// && operator_usage(a, b, flavor);
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// }
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private:
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Group p,q;
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private:
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flavor_tag flavor;
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G e, g, h, gh, ig, d;
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bool test, test2;
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bool operator_usage(const Group& a, const Group& b, const traits::multiplicative_group_tag&) {
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return equal(compose(a, b), a*b);
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bool operator_usage(const G& a, const G& b,
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group::traits::multiplicative_tag) {
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return group::compose(a, b) == a * b;
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}
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bool operator_usage(const Group& a, const Group& b, const traits::additive_group_tag&) {
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return equal(compose(a, b), a+b);
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bool operator_usage(const G& a, const G& b, group::traits::additive_tag) {
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return group::compose(a, b) == a + b;
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}
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};
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/*
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template <class L>
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class LieGroupConcept : public GroupConcept<L>, public ManifoldConcept<L> {
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template <class L>
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class LieGroupConcept : public GroupConcept<L>, public ManifoldConcept<L> {
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BOOST_CONCEPT_USAGE(LieGroupConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::lie_group_tag, traits::structure<L> >);
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}
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};
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BOOST_CONCEPT_USAGE(LieGroupConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::lie_group_tag, traits::structure<L> >);
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}
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};
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template <class V>
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class VectorSpaceConcept : public LieGroupConcept {
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typedef typename traits::DefaultChart<V>::type Chart;
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typedef typename GroupConcept<V>::identity identity;
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template <class V>
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class VectorSpaceConcept : public LieGroupConcept {
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typedef typename traits::DefaultChart<V>::type Chart;
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typedef typename GroupConcept<V>::identity identity;
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BOOST_CONCEPT_USAGE(VectorSpaceConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::vector_space_tag, traits::structure<L> >);
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r = p+q;
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r = -p;
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r = p-q;
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}
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BOOST_CONCEPT_USAGE(VectorSpaceConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::vector_space_tag, traits::structure<L> >);
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r = p+q;
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r = -p;
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r = p-q;
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}
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bool check_invariants(const V& a, const V& b) {
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return equal(compose(a, b), a+b)
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&& equal(inverse(a), -a)
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&& equal(between(a, b), b-a)
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&& equal(Chart::retract(a, b), a+b)
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&& equal(Chart::local(a, b), b-a);
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}
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bool check_invariants(const V& a, const V& b) {
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return equal(compose(a, b), a+b)
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&& equal(inverse(a), -a)
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&& equal(between(a, b), b-a)
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&& equal(Chart::retract(a, b), a+b)
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&& equal(Chart::local(a, b), b-a);
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}
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private:
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V p,q,r;
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};
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*/
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V g,q,r;
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};
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*/
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} // namespace gtsam
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@ -0,0 +1,27 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Cyclic.cpp
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* @brief Cyclic group implementation
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* @author Frank Dellaert
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**/
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#include <gtsam/geometry/Cyclic.h>
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namespace gtsam {
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namespace group {
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namespace traits {
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} // \namespace traits
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} // \namespace group
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} // \namespace gtsam
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@ -0,0 +1,89 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Cyclic.h
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* @brief Cyclic group, i.e., the integers modulo N
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* @author Frank Dellaert
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**/
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#include <gtsam/base/concepts.h>
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#include <cstddef>
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namespace gtsam {
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template<size_t N>
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class Cyclic {
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size_t i_; ///< we just use an unsigned int
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public:
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/// Constructor
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Cyclic(size_t i) :
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i_(i) {
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}
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/// Cast to size_t
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operator size_t() const {
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return i_;
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}
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/// Addition modulo N
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Cyclic operator+(const Cyclic& h) const {
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return (i_ + h.i_) % N;
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}
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/// Subtraction modulo N
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Cyclic operator-(const Cyclic& h) const {
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return (N + i_ - h.i_) % N;
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}
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/// Inverse
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Cyclic operator-() const {
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return (N - i_) % N;
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}
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};
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namespace traits {
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/// Define Cyclic to be a model of the Group concept
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template<size_t N> struct structure_category<Cyclic<N> > {
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typedef group_tag type;
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};
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} // \namespace gtsam::traits
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namespace group {
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template<size_t N>
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Cyclic<N> compose(const Cyclic<N>&g, const Cyclic<N>& h) {
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return g + h;
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}
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template<size_t N>
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Cyclic<N> between(const Cyclic<N>&g, const Cyclic<N>& h) {
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return h - g;
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}
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template<size_t N>
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Cyclic<N> inverse(const Cyclic<N>&g) {
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return -g;
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}
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namespace traits {
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/// Define the trait that specifies Cyclic's identity element
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template<size_t N> struct identity<Cyclic<N> > {
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static const Cyclic<N> value = Cyclic<N>(0);
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typedef Cyclic<N> value_type;
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};
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/// Define the trait that asserts Cyclic is an additive group
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template<size_t N> struct flavor<Cyclic<N> > {
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typedef additive_tag type;
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};
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} // \namespace gtsam::group::traits
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} // \namespace gtsam::group
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} // \namespace gtsam
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@ -15,53 +15,76 @@
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* @author Frank Dellaert
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**/
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#include <gtsam/base/concepts.h>
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#include <cstddef>
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namespace gtsam {
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template<size_t N>
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class Cyclic {
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size_t i_;
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public:
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static const Cyclic Identity = Cyclic(0);
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Cyclic(size_t i) :
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i_(i) {
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}
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};
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namespace traits {
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template<size_t N> struct identity<Cyclic<N> > {
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static const Cyclic<N> value = Cyclic<N>::Identity;
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typedef Cyclic<N> value_type;
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};
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template<size_t N> struct group_flavor<Cyclic<N> > {
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typedef additive_group_tag type;
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};
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} // \namespace traits
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} // \namespace gtsam
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//#include <gtsam/geometry/Cyclic.h>
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#include <gtsam/geometry/Cyclic.h>
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#include <gtsam/base/Testable.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace std;
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using namespace gtsam;
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BOOST_CONCEPT_ASSERT((GroupConcept<Cyclic<6> >));
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typedef Cyclic<6> G; // Let's use the cyclic group of order 6
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/* ************************************************************************* */
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//******************************************************************************
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TEST(Cyclic, Concept) {
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BOOST_CONCEPT_ASSERT((Group<G>));
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EXPECT_LONGS_EQUAL(0, group::traits::identity<G>::value);
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G g(2), h(3);
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// EXPECT(Group<G>().check_invariants(g,h))
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}
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//******************************************************************************
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TEST(Cyclic, Constructor) {
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Cyclic<6> g(0);
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// EXPECT(assert_equal(p1, p2));
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// EXPECT_LONGS_EQUAL(2,offset2.size());
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G g(0);
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}
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/* ************************************************************************* */
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//******************************************************************************
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TEST(Cyclic, Compose) {
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EXPECT_LONGS_EQUAL(0, group::compose(G(0),G(0)));
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EXPECT_LONGS_EQUAL(1, group::compose(G(0),G(1)));
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EXPECT_LONGS_EQUAL(2, group::compose(G(0),G(2)));
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EXPECT_LONGS_EQUAL(3, group::compose(G(0),G(3)));
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EXPECT_LONGS_EQUAL(4, group::compose(G(0),G(4)));
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EXPECT_LONGS_EQUAL(5, group::compose(G(0),G(5)));
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EXPECT_LONGS_EQUAL(2, group::compose(G(2),G(0)));
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EXPECT_LONGS_EQUAL(3, group::compose(G(2),G(1)));
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EXPECT_LONGS_EQUAL(4, group::compose(G(2),G(2)));
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EXPECT_LONGS_EQUAL(5, group::compose(G(2),G(3)));
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EXPECT_LONGS_EQUAL(0, group::compose(G(2),G(4)));
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EXPECT_LONGS_EQUAL(1, group::compose(G(2),G(5)));
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}
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//******************************************************************************
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TEST(Cyclic, Between) {
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EXPECT_LONGS_EQUAL(0, group::between(G(0),G(0)));
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EXPECT_LONGS_EQUAL(1, group::between(G(0),G(1)));
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EXPECT_LONGS_EQUAL(2, group::between(G(0),G(2)));
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EXPECT_LONGS_EQUAL(3, group::between(G(0),G(3)));
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EXPECT_LONGS_EQUAL(4, group::between(G(0),G(4)));
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EXPECT_LONGS_EQUAL(5, group::between(G(0),G(5)));
|
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|
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EXPECT_LONGS_EQUAL(4, group::between(G(2),G(0)));
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EXPECT_LONGS_EQUAL(5, group::between(G(2),G(1)));
|
||||
EXPECT_LONGS_EQUAL(0, group::between(G(2),G(2)));
|
||||
EXPECT_LONGS_EQUAL(1, group::between(G(2),G(3)));
|
||||
EXPECT_LONGS_EQUAL(2, group::between(G(2),G(4)));
|
||||
EXPECT_LONGS_EQUAL(3, group::between(G(2),G(5)));
|
||||
}
|
||||
|
||||
//******************************************************************************
|
||||
TEST(Cyclic, Ivnverse) {
|
||||
EXPECT_LONGS_EQUAL(0, group::inverse(G(0)));
|
||||
EXPECT_LONGS_EQUAL(5, group::inverse(G(1)));
|
||||
EXPECT_LONGS_EQUAL(4, group::inverse(G(2)));
|
||||
EXPECT_LONGS_EQUAL(3, group::inverse(G(3)));
|
||||
EXPECT_LONGS_EQUAL(2, group::inverse(G(4)));
|
||||
EXPECT_LONGS_EQUAL(1, group::inverse(G(5)));
|
||||
}
|
||||
|
||||
//******************************************************************************
|
||||
int main() {
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
//******************************************************************************
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue