Renamed internal::LieGroup -> internal::LieGroupTraits

gtsam/base/Lie.h

@@ -29,11 +29,11 @@ struct lie_group_tag: public manifold_tag, public group_tag {};
 
 namespace internal {
 
-/// A helper that implements the traits interface for GTSAM lie groups.
+/// A helper class that implements the traits interface for GTSAM lie groups.
 /// To use this for your gtsam type, define:
-/// template<> struct traits<Type> : public LieGroup<Type> { };
+/// template<> struct traits<Class> : public internal::LieGroupTraits<Class> {};
 template<class Class>
-struct LieGroup : Testable<Class> {
+struct LieGroupTraits : Testable<Class> {
   typedef lie_group_tag structure_category;
 
   /// @name Group
@@ -53,7 +53,7 @@ struct LieGroup : Testable<Class> {
   typedef OptionalJacobian<dimension, dimension> ChartJacobian;
 
   BOOST_STATIC_ASSERT_MSG(dimension != Eigen::Dynamic,
-      "LieGroup not yet specialized for dynamically sized types.");
+      "LieGroupTraits not yet specialized for dynamically sized types.");
 
   static int GetDimension(const Class&) {return dimension;}
 

gtsam/geometry/Pose2.h

@@ -314,7 +314,7 @@ typedef std::pair<Point2,Point2> Point2Pair;
 GTSAM_EXPORT boost::optional<Pose2> align(const std::vector<Point2Pair>& pairs);
 
 template<>
-struct traits_x<Pose2> : public internal::LieGroup<Pose2> {};
+struct traits_x<Pose2> : public internal::LieGroupTraits<Pose2> {};
 
 } // namespace gtsam
 

gtsam/geometry/Pose3.h

@@ -370,6 +370,6 @@ typedef std::pair<Point3, Point3> Point3Pair;
 GTSAM_EXPORT boost::optional<Pose3> align(const std::vector<Point3Pair>& pairs);
 
 template<>
-struct traits_x<Pose3> : public internal::LieGroup<Pose3> {};
+struct traits_x<Pose3> : public internal::LieGroupTraits<Pose3> {};
 
 } // namespace gtsam

gtsam/geometry/Rot2.h

@@ -242,6 +242,6 @@ namespace gtsam {
   };
 
   template<>
-  struct traits_x<Rot2> : public internal::LieGroup<Rot2> {};
+  struct traits_x<Rot2> : public internal::LieGroupTraits<Rot2> {};
 
 } // gtsam

gtsam/geometry/Rot3.h

@@ -482,6 +482,6 @@ namespace gtsam {
   GTSAM_EXPORT std::pair<Matrix3,Vector3> RQ(const Matrix3& A);
 
   template<>
-  struct traits_x<Rot3> : public internal::LieGroup<Rot3> {};
+  struct traits_x<Rot3> : public internal::LieGroupTraits<Rot3> {};
 }
 

gtsam/geometry/SO3.h

@@ -63,7 +63,7 @@ public:
 };
 
 template<>
-struct traits_x<SO3> : public internal::LieGroup<SO3> {};
+struct traits_x<SO3> : public internal::LieGroupTraits<SO3> {};
 
 
 } // end namespace gtsam

gtsam_unstable/dynamics/PoseRTV.h

@@ -190,6 +190,6 @@ private:
 
 
 template<>
-struct traits_x<PoseRTV> : public internal::LieGroup<PoseRTV> {};
+struct traits_x<PoseRTV> : public internal::LieGroupTraits<PoseRTV> {};
 
 } // \namespace gtsam