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RETURN CONST REFERENCES WHERE YOU CAN and some inlining

release/4.3a0
Frank Dellaert 2010-02-24 06:14:43 +00:00
parent dd9446993a
commit 696be0d0c1
4 changed files with 19 additions and 16 deletions
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6
cpp/Point3.h
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@ -46,9 +46,9 @@ namespace gtsam {
} }
/** get functions for x, y, z */ /** get functions for x, y, z */
double x() const {return x_;} inline double x() const {return x_;}
double y() const {return y_;} inline double y() const {return y_;}
double z() const {return z_;} inline double z() const {return z_;}
/** operators */ /** operators */
Point3 operator - () const { return Point3(-x_,-y_,-z_);} Point3 operator - () const { return Point3(-x_,-y_,-z_);}

11
cpp/Pose2.h
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@ -56,11 +56,12 @@ namespace gtsam {
Matrix matrix() const; Matrix matrix() const;
/** get functions for x, y, theta */ /** get functions for x, y, theta */
double x() const { return t_.x(); } inline double x() const { return t_.x(); }
double y() const { return t_.y(); } inline double y() const { return t_.y(); }
double theta() const { return r_.theta(); } inline double theta() const { return r_.theta(); }
Point2 t() const { return t_; }
Rot2 r() const { return r_; } inline const Point2& t() const { return t_; }
inline const Rot2& r() const { return r_; }
static inline size_t dim() { return 3; }; static inline size_t dim() { return 3; };

10
cpp/Pose3.h
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@ -43,12 +43,12 @@ namespace gtsam {
R_(V(0), V(3), V(6), V(1), V(4), V(7), V(2), V(5), V(8)), R_(V(0), V(3), V(6), V(1), V(4), V(7), V(2), V(5), V(8)),
t_(V(9), V(10),V(11)) {} t_(V(9), V(10),V(11)) {}
const Rot3& rotation() const { return R_; } inline const Rot3& rotation() const { return R_; }
inline const Point3& translation() const { return t_; }
const Point3& translation() const { return t_; } inline double x() const { return t_.x(); }
double x() const { return t_.x(); } inline double y() const { return t_.y(); }
double y() const { return t_.y(); } inline double z() const { return t_.z(); }
double z() const { return t_.z(); }
/** convert to 4*4 matrix */ /** convert to 4*4 matrix */
Matrix matrix() const; Matrix matrix() const;

8
cpp/Rot2.h
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@ -25,8 +25,9 @@ namespace gtsam {
public: public:
/** constructor from cos/sin */ /** constructor from cos/sin */
Rot2(double c, double s) : inline Rot2(double c, double s) :
c_(c), s_(s) { c_(c), s_(s) {
#ifdef ROT2_RENORMALIZE
// rtodo: Could do this scale correction only when creating from compose // rtodo: Could do this scale correction only when creating from compose
// Don't let scale drift // Don't let scale drift
double scale = c*c + s*s; double scale = c*c + s*s;
@ -35,6 +36,7 @@ namespace gtsam {
c_ *= scale; c_ *= scale;
s_ *= scale; s_ *= scale;
} }
#endif
} }
/** default constructor, zero rotation */ /** default constructor, zero rotation */
@ -47,10 +49,10 @@ namespace gtsam {
double theta() const { return atan2(s_,c_); } double theta() const { return atan2(s_,c_); }
/** return cos */ /** return cos */
double c() const { return c_; } inline double c() const { return c_; }
/** return sin */ /** return sin */
double s() const { return s_; } inline double s() const { return s_; }
/** print */ /** print */
void print(const std::string& s = "theta") const; void print(const std::string& s = "theta") const;