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Macros. Too ugly?

release/4.3a0
dellaert 2014-12-07 18:01:30 +01:00
parent 19c38b91ee
commit 38a0842090
2 changed files with 12 additions and 40 deletions
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11
gtsam/base/concepts.h
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@ -149,6 +149,17 @@ check_invariants(const T& a, const T& b, double tol = 1e-9) {
}
} // \ namespace group
#define GTSAM_MULTIPLICATIVE_GROUP2(T1,A1,T2,A2,GROUP) \
namespace group { \
template<T1 A1, T2 A2> GROUP<A1,A2> compose(const GROUP<A1,A2> &g, const GROUP<A1,A2> & h) { return g * h;} \
template<T1 A1, T2 A2> GROUP<A1,A2> between(const GROUP<A1,A2> &g, const GROUP<A1,A2> & h) { return g.inverse() * h;} \
template<T1 A1, T2 A2> GROUP<A1,A2> inverse(const GROUP<A1,A2> &g) { return g.inverse();} \
namespace traits { \
template<T1 A1, T2 A2> struct identity<GROUP<A1,A2> > { static const GROUP<A1,A2> value; typedef GROUP<A1,A2> value_type;};\
template<T1 A1, T2 A2> const GROUP<A1,A2> identity<GROUP<A1,A2> >::value = GROUP<A1,A2>::Identity();\
template<T1 A1, T2 A2> struct flavor<GROUP<A1,A2> > { typedef multiplicative_tag type;};\
}}
/**
* Group Concept
*/

41
gtsam/geometry/tests/testQuaternion.cpp
View File

@ -111,47 +111,8 @@ struct DefaultChart<Eigen::Quaternion<S, O> > {
} // \namespace gtsam::manifold::traits
} // \namespace gtsam::manifold
namespace group {
GTSAM_MULTIPLICATIVE_GROUP2(typename,_Scalar, int,_Options ,Eigen::Quaternion)
template<typename S, int O>
Eigen::Quaternion<S, O> compose(const Eigen::Quaternion<S, O> &g,
const Eigen::Quaternion<S, O> & h) {
return g * h;
}
template<typename S, int O>
Eigen::Quaternion<S, O> between(const Eigen::Quaternion<S, O> &g,
const Eigen::Quaternion<S, O> & h) {
return g.inverse() * h;
}
template<typename S, int O>
Eigen::Quaternion<S, O> inverse(const Eigen::Quaternion<S, O> &g) {
return g.inverse();
}
namespace traits {
/// Declare the trait that specifies a quaternion's identity element
template<typename S, int O>
struct identity<Eigen::Quaternion<S, O> > {
static const Eigen::Quaternion<S, O> value;
typedef Eigen::Quaternion<S, O> value_type;
};
/// Out of line definition of identity
template<typename S, int O>
const Eigen::Quaternion<S, O> identity<Eigen::Quaternion<S, O> >::value =
Eigen::Quaternion<S, O>::Identity();
/// Define the trait that asserts quaternions are a multiplicative group
template<typename S, int O>
struct flavor<Eigen::Quaternion<S, O> > {
typedef multiplicative_tag type;
};
} // \namespace gtsam::group::traits
} // \namespace gtsam::group
} // \namespace gtsam
/**