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Now all Eigen::Quaternion flavors are certified as IsGroup

release/4.3a0
dellaert 2014-12-07 10:19:38 +01:00
parent 06640cc414
commit 3a6b89e840
1 changed files with 41 additions and 27 deletions
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68
gtsam/geometry/tests/testQuaternion.cpp
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@ -19,47 +19,54 @@
namespace gtsam {
/// Typedef to an Eigen Quaternion<double>, we disable alignment because
/// geometry objects are stored in boost pool allocators, in Values
/// containers, and and these pool allocators do not support alignment.
typedef Eigen::Quaternion<double, Eigen::DontAlign> Quaternion;
namespace traits {
/// Define Quaternion to be a model of the Group concept
template<>
struct structure_category<Quaternion> {
/// Define Eigen::Quaternion to be a model of the Group concept
template<typename _Scalar, int _Options>
struct structure_category<Eigen::Quaternion<_Scalar, _Options> > {
typedef group_tag type;
};
} // \namespace gtsam::traits
namespace group {
Quaternion compose(const Quaternion&g, const Quaternion& h) {
template<typename _Scalar, int _Options>
Eigen::Quaternion<_Scalar, _Options> compose(
const Eigen::Quaternion<_Scalar, _Options> &g,
const Eigen::Quaternion<_Scalar, _Options> & h) {
return g * h;
}
Quaternion between(const Quaternion&g, const Quaternion& h) {
template<typename _Scalar, int _Options>
Eigen::Quaternion<_Scalar, _Options> between(
const Eigen::Quaternion<_Scalar, _Options> &g,
const Eigen::Quaternion<_Scalar, _Options> & h) {
return g.inverse() * h;
}
Quaternion inverse(const Quaternion&g) {
template<typename _Scalar, int _Options>
Eigen::Quaternion<_Scalar, _Options> inverse(
const Eigen::Quaternion<_Scalar, _Options> &g) {
return g.inverse();
}
namespace traits {
/// Define the trait that specifies Quaternion's identity element
template<>
struct identity<Quaternion> {
static const Quaternion value;
typedef Quaternion value_type;
/// Declare the trait that specifies a quaternion's identity element
template<typename _Scalar, int _Options>
struct identity<Eigen::Quaternion<_Scalar, _Options> > {
static const Eigen::Quaternion<_Scalar, _Options> value;
typedef Eigen::Quaternion<_Scalar, _Options> value_type;
};
const Quaternion identity<Quaternion>::value = Quaternion::Identity();
/// Out of line definition of identity
template<typename _Scalar, int _Options>
const Eigen::Quaternion<_Scalar, _Options> identity<
Eigen::Quaternion<_Scalar, _Options> >::value = Eigen::Quaternion<_Scalar,
_Options>::Identity();
/// Define the trait that asserts Quaternion is an additive group
template<>
struct flavor<Quaternion> {
/// Define the trait that asserts quaternions are a multiplicative group
template<typename _Scalar, int _Options>
struct flavor<Eigen::Quaternion<_Scalar, _Options> > {
typedef multiplicative_tag type;
};
@ -67,6 +74,13 @@ struct flavor<Quaternion> {
} // \namespace gtsam::group
} // \namespace gtsam
/**
* GSAM typedef to an Eigen::Quaternion<double>, we disable alignment because
* geometry objects are stored in boost pool allocators, in Values containers,
* and and these pool allocators do not support alignment.
*/
typedef Eigen::Quaternion<double, Eigen::DontAlign> Quaternion;
/**
* @file testCyclic.cpp
* @brief Unit tests for cyclic group
@ -84,25 +98,25 @@ using namespace gtsam;
typedef Quaternion Q; // Typedef
//******************************************************************************
TEST(Quaternion, Concept) {
BOOST_CONCEPT_ASSERT((IsGroup<Quaternion>));
TEST(Quaternion , Concept) {
BOOST_CONCEPT_ASSERT((IsGroup<Quaternion >));
}
//******************************************************************************
TEST(Quaternion, Constructor) {
Q g(Eigen::AngleAxisd(1, Vector3(0,0,1)));
TEST(Quaternion , Constructor) {
Q g(Eigen::AngleAxisd(1, Vector3(0, 0, 1)));
}
//******************************************************************************
TEST(Quaternion, Compose) {
TEST(Quaternion , Compose) {
}
//******************************************************************************
TEST(Quaternion, Between) {
TEST(Quaternion , Between) {
}
//******************************************************************************
TEST(Quaternion, Ivnverse) {
TEST(Quaternion , Ivnverse) {
}
//******************************************************************************