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Renamed internal::LieGroup -> internal::LieGroupTraits

release/4.3a0
dellaert 2014-12-24 01:34:33 +01:00
parent 82c8fd181a
commit 3d15868ece
7 changed files with 10 additions and 10 deletions
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8
gtsam/base/Lie.h
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@ -29,11 +29,11 @@ struct lie_group_tag: public manifold_tag, public group_tag {};
namespace internal { 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: /// 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> template<class Class>
struct LieGroup : Testable<Class> { struct LieGroupTraits : Testable<Class> {
typedef lie_group_tag structure_category; typedef lie_group_tag structure_category;
/// @name Group /// @name Group
@ -53,7 +53,7 @@ struct LieGroup : Testable<Class> {
typedef OptionalJacobian<dimension, dimension> ChartJacobian; typedef OptionalJacobian<dimension, dimension> ChartJacobian;
BOOST_STATIC_ASSERT_MSG(dimension != Eigen::Dynamic, 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;} static int GetDimension(const Class&) {return dimension;}

2
gtsam/geometry/Pose2.h
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@ -314,7 +314,7 @@ typedef std::pair<Point2,Point2> Point2Pair;
GTSAM_EXPORT boost::optional<Pose2> align(const std::vector<Point2Pair>& pairs); GTSAM_EXPORT boost::optional<Pose2> align(const std::vector<Point2Pair>& pairs);
template<> template<>
struct traits_x<Pose2> : public internal::LieGroup<Pose2> {}; struct traits_x<Pose2> : public internal::LieGroupTraits<Pose2> {};
} // namespace gtsam } // namespace gtsam

2
gtsam/geometry/Pose3.h
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@ -370,6 +370,6 @@ typedef std::pair<Point3, Point3> Point3Pair;
GTSAM_EXPORT boost::optional<Pose3> align(const std::vector<Point3Pair>& pairs); GTSAM_EXPORT boost::optional<Pose3> align(const std::vector<Point3Pair>& pairs);
template<> template<>
struct traits_x<Pose3> : public internal::LieGroup<Pose3> {}; struct traits_x<Pose3> : public internal::LieGroupTraits<Pose3> {};
} // namespace gtsam } // namespace gtsam

2
gtsam/geometry/Rot2.h
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@ -242,6 +242,6 @@ namespace gtsam {
}; };
template<> template<>
struct traits_x<Rot2> : public internal::LieGroup<Rot2> {}; struct traits_x<Rot2> : public internal::LieGroupTraits<Rot2> {};
} // gtsam } // gtsam

2
gtsam/geometry/Rot3.h
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@ -482,6 +482,6 @@ namespace gtsam {
GTSAM_EXPORT std::pair<Matrix3,Vector3> RQ(const Matrix3& A); GTSAM_EXPORT std::pair<Matrix3,Vector3> RQ(const Matrix3& A);
template<> template<>
struct traits_x<Rot3> : public internal::LieGroup<Rot3> {}; struct traits_x<Rot3> : public internal::LieGroupTraits<Rot3> {};
} }

2
gtsam/geometry/SO3.h
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@ -63,7 +63,7 @@ public:
}; };
template<> template<>
struct traits_x<SO3> : public internal::LieGroup<SO3> {}; struct traits_x<SO3> : public internal::LieGroupTraits<SO3> {};
} // end namespace gtsam } // end namespace gtsam

2
gtsam_unstable/dynamics/PoseRTV.h
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@ -190,6 +190,6 @@ private:
template<> template<>
struct traits_x<PoseRTV> : public internal::LieGroup<PoseRTV> {}; struct traits_x<PoseRTV> : public internal::LieGroupTraits<PoseRTV> {};
} // \namespace gtsam } // \namespace gtsam