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Moved Testable, not so important

release/4.3a0
dellaert 2014-12-03 18:24:49 +01:00
parent 079d1b122d
commit 68422161a2
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GTSAM-Concepts.md
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GTSAM Concepts
==============
Concepts define (see [Generic Programming Techniques](http://www.boost.org/community/generic_programming.html))
As discussed in [Generic Programming Techniques](http://www.boost.org/community/generic_programming.html), concepts define
* associated types
* valid expressions, like functions and values
* invariants
* complexity guarantees
GTSAM Types start with Uppercase, e.g., `gtsam::Point2`, and are models of the TESTABLE, MANIFOLD, GROUP, LIE_GROUP, and VECTOR_SPACE concepts.
Below we discuss the most important concepts use in GTSAM, and after that we discuss how they are implemented/used/enforced.
Testable
--------
Unit tests heavily depend on the following two functions being defined for all types that need to be tested:
* functions: `print`, `equals`
Manifold
--------
@ -59,11 +54,21 @@ Vector Space
Lie Group where compose == `+`
Testable
--------
Unit tests heavily depend on the following two functions being defined for all types that need to be tested:
* functions: `print`, `equals`
Implementation
==============
GTSAM Types start with Uppercase, e.g., `gtsam::Point2`, and are models of the TESTABLE, MANIFOLD, GROUP, LIE_GROUP, and VECTOR_SPACE concepts. `gtsam::traits` is our way to associate these concepts with types, and we also define a limited number of `gtsam::tags` to select the correct implementation of certain functions at compile time (tag dispatching).
traits
------
`gtsam::traits` is our way to associate these concepts with types. We will not use Eigen-style or STL-style traits, that define many properties at once. Rather, we use boost::mpl style meta-programming functions to facilitate meta-programming.
We will not use Eigen-style or STL-style traits, that define many properties at once. Rather, we use boost::mpl style meta-programming functions to facilitate meta-programming.
Traits allow us to play with types that are outside GTSAM control, e.g., `Eigen::VectorXd`.