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Merged in fix/BAD_addMatrixSpecializationOfIdenity (pull request #32) 

* implemented traits::identity for Eigen matrices
release/4.3a0
Frank Dellaert 2014-11-08 09:06:32 -05:00
parent 90ec6b1452 6cfc4c45d2
commit 31d345bda1
3 changed files with 26 additions and 20 deletions
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30
gtsam/base/Manifold.h
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@ -114,28 +114,15 @@ template<int M, int N, int Options>
struct is_manifold<Eigen::Matrix<double, M, N, Options> > : public boost::true_type { struct is_manifold<Eigen::Matrix<double, M, N, Options> > : public boost::true_type {
}; };
// TODO: Could be more sophisticated using Eigen traits and SFINAE? template<int M, int N, int Options>
struct dimension<Eigen::Matrix<double, M, N, Options> > : public boost::integral_constant<int,
template<int Options> M == Eigen::Dynamic ? Eigen::Dynamic : (N == Eigen::Dynamic ? Eigen::Dynamic : M * N)> {
struct dimension<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Options> > : public Dynamic { //TODO after switch to c++11 : the above should should be extracted to a constexpr function
}; // for readability and to reduce code duplication
template<int M, int Options>
struct dimension<Eigen::Matrix<double, M, Eigen::Dynamic, Options> > : public Dynamic {
};
template<int N, int Options>
struct dimension<Eigen::Matrix<double, Eigen::Dynamic, N, Options> > : public Dynamic {
}; };
template<int M, int N, int Options> template<int M, int N, int Options>
struct dimension<Eigen::Matrix<double, M, N, Options> > : public boost::integral_constant< struct zero<Eigen::Matrix<double, M, N, Options> > {
int, M * N> {
};
template<int M, int N, int Options>
struct zero<Eigen::Matrix<double, M, N, Options> > : public boost::integral_constant<
int, M * N> {
BOOST_STATIC_ASSERT_MSG((M!=Eigen::Dynamic && N!=Eigen::Dynamic), BOOST_STATIC_ASSERT_MSG((M!=Eigen::Dynamic && N!=Eigen::Dynamic),
"traits::zero is only supported for fixed-size matrices"); "traits::zero is only supported for fixed-size matrices");
static Eigen::Matrix<double, M, N, Options> value() { static Eigen::Matrix<double, M, N, Options> value() {
@ -143,6 +130,11 @@ struct zero<Eigen::Matrix<double, M, N, Options> > : public boost::integral_cons
} }
}; };
template<int M, int N, int Options>
struct identity<Eigen::Matrix<double, M, N, Options> > : public zero<Eigen::Matrix<double, M, N, Options> > {
};
template<typename T> struct is_chart: public boost::false_type { template<typename T> struct is_chart: public boost::false_type {
}; };

2
gtsam/base/Matrix.cpp
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@ -667,7 +667,7 @@ Matrix expm(const Matrix& A, size_t K) {
/* ************************************************************************* */ /* ************************************************************************* */
Matrix Cayley(const Matrix& A) { Matrix Cayley(const Matrix& A) {
size_t n = A.cols(); Matrix::Index n = A.cols();
assert(A.rows() == n); assert(A.rows() == n);
// original // original

14
tests/testManifold.cpp
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@ -108,6 +108,20 @@ TEST(Manifold, _zero) {
Cal3Bundler cal(0, 0, 0); Cal3Bundler cal(0, 0, 0);
EXPECT(assert_equal(cal, traits::zero<Cal3Bundler>::value())); EXPECT(assert_equal(cal, traits::zero<Cal3Bundler>::value()));
EXPECT(assert_equal(Camera(Pose3(), cal), traits::zero<Camera>::value())); EXPECT(assert_equal(Camera(Pose3(), cal), traits::zero<Camera>::value()));
EXPECT(assert_equal(Point2(), traits::zero<Point2>::value()));
EXPECT(assert_equal(Matrix(Matrix24::Zero().eval()), Matrix(traits::zero<Matrix24>::value())));
EXPECT_DOUBLES_EQUAL(0.0, traits::zero<double>::value(), 0.0);
}
/* ************************************************************************* */
// identity
TEST(Manifold, _identity) {
EXPECT(assert_equal(Pose3(), traits::identity<Pose3>::value()));
EXPECT(assert_equal(Cal3Bundler(), traits::identity<Cal3Bundler>::value()));
EXPECT(assert_equal(Camera(), traits::identity<Camera>::value()));
EXPECT(assert_equal(Point2(), traits::identity<Point2>::value()));
EXPECT(assert_equal(Matrix(Matrix24::Zero()), Matrix(traits::identity<Matrix24>::value())));
EXPECT_DOUBLES_EQUAL(0.0, traits::identity<double>::value(), 0.0);
} }
/* ************************************************************************* */ /* ************************************************************************* */