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LieGroup concept and flushing out more tags

release/4.3a0
Mike Bosse 2014-12-04 15:57:41 +01:00
parent 56787e1a88
commit 2fa9d0f557
1 changed files with 21 additions and 1 deletions
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22
gtsam/base/concepts.h
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@ -10,6 +10,7 @@
#include "manifold.h"
#include "chart.h"
#include <boost/type_traits.hpp>
namespace gtsam {
@ -31,9 +32,15 @@ struct DefaultChart {
//typedef XXX type;
};
template <class T>
struct structure {}; // specializations should be derived from one of the following tags
struct manifold_tag {};
struct group_tag {};
struct lie_group_tag : public manifold_tag, public group_tag {};
struct vector_space_tag : public lie_group_tag {};
template <class Group>
struct group_flavor {};
struct additive_group_tag {};
struct multiplicative_group_tag {};
@ -43,11 +50,13 @@ template<class T>
class ManifoldConcept {
public:
typedef T Manifold;
typedef traits::manifold_tag<T> manifold_tag;
typedef traits::TangentVector<T>::type TangentVector;
typedef traits::DefaultChart<T>::type DefaultChart;
static const size_t dim = traits::dimension<T>::value;
BOOST_CONCEPT_USAGE(ManifoldConcept) {
BOOST_STATIC_ASSERT(boost::is_base_of<traits::manifold_tag, traits::structure<Manifold> >);
BOOST_STATIC_ASSERT(TangentVector::SizeAtCompileTime == dim);
// no direct usage for manifold since most usage is through a chart
}
@ -81,6 +90,7 @@ class GroupConcept {
static const Group identity = traits::identity<G>::value;
BOOST_CONCEPT_USAGE(GroupConcept) {
BOOST_STATIC_ASSERT(boost::is_base_of<traits::group_tag, traits::structure<Group> >);
Group ip = inverse(p);
Group pq = compose(p, q);
Group d = between(p, q);
@ -108,6 +118,16 @@ class GroupConcept {
};
template <class L>
class LieGroupConcept : public GroupConcept<L>, public ManifoldConcept<L> {
BOOST_CONCEPT_USAGE(LieGroupConcept) {
BOOST_STATIC_ASSERT(boost::is_base_of<traits::lie_group_tag, traits::structure<L> >);
}
};
} // namespace gtsam
#endif /* CONCEPTS_H_ */