From 6b04fee0487e8931ee229826686c42b7b1947737 Mon Sep 17 00:00:00 2001
From: Paul Furgale <paul.furgale@gmail.com>
Date: Sat, 13 Dec 2014 22:26:49 +0100
Subject: [PATCH] Changed some lie groups to manifolds

---
 gtsam/geometry/CalibratedCamera.h |  2 +-
 gtsam/geometry/EssentialMatrix.h  |  2 +-
 gtsam/geometry/PinholeCamera.h    | 26 ++++----------------------
 gtsam/geometry/StereoCamera.h     |  2 +-
 gtsam/geometry/StereoPoint2.h     |  2 +-
 5 files changed, 8 insertions(+), 26 deletions(-)

diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index bac0ac0e8..6fbb31197 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -202,7 +202,7 @@ private:
 };
 
 template<>
-struct traits_x<CalibratedCamera> : public internal::LieGroup<CalibratedCamera> {};
+struct traits_x<CalibratedCamera> : public internal::Manifold<CalibratedCamera> {};
 
 }
 
diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h
index 107ddb3fb..c7cb0b958 100644
--- a/gtsam/geometry/EssentialMatrix.h
+++ b/gtsam/geometry/EssentialMatrix.h
@@ -199,7 +199,7 @@ private:
 };
 
 template<>
-struct traits_x<EssentialMatrix> : public internal::LieGroup<EssentialMatrix> {};
+struct traits_x<EssentialMatrix> : public internal::Manifold<EssentialMatrix> {};
 
 } // gtsam
 
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index 9b881dc78..38e3b538d 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -36,10 +36,11 @@ private:
   Calibration K_;
 
   // Get dimensions of calibration type and This at compile time
-  static const int DimK = traits::dimension<Calibration>::value, //
+  static const int DimK = traits_x<Calibration>::dimension, //
       DimC = 6 + DimK;
 
 public:
+  enum { dimension = DimC };
 
   /// @name Standard Constructors
   /// @{
@@ -485,26 +486,7 @@ private:
 
 };
 
-// Define GTSAM traits
-namespace traits {
-
-template<typename Calibration>
-struct GTSAM_EXPORT is_manifold<PinholeCamera<Calibration> > : public boost::true_type {
-};
-
-template<typename Calibration>
-struct GTSAM_EXPORT dimension<PinholeCamera<Calibration> > : public boost::integral_constant<
-    int, dimension<Pose3>::value + dimension<Calibration>::value> {
-};
-
-template<typename Calibration>
-struct GTSAM_EXPORT zero<PinholeCamera<Calibration> > {
-  static PinholeCamera<Calibration> value() {
-    return PinholeCamera<Calibration>(zero<Pose3>::value(),
-        zero<Calibration>::value());
-  }
-};
-
-}
+template<>
+struct traits_x<CalibratedCamera> : public internal::Manifold<CalibratedCamera> {};
 
 } // \ gtsam
diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h
index 1d03352da..4d68f03e8 100644
--- a/gtsam/geometry/StereoCamera.h
+++ b/gtsam/geometry/StereoCamera.h
@@ -153,6 +153,6 @@ private:
 };
 
 template<>
-struct traits_x<StereoCamera> : public internal::LieGroup<StereoCamera> {};
+struct traits_x<StereoCamera> : public internal::Manifold<StereoCamera> {};
 
 }
diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h
index fcd37c5d8..e515356f1 100644
--- a/gtsam/geometry/StereoPoint2.h
+++ b/gtsam/geometry/StereoPoint2.h
@@ -175,5 +175,5 @@ namespace gtsam {
   };
 
   template<>
-  struct traits_x<StereoPoint2> : public internal::LieGroup<StereoPoint2> {};
+  struct traits_x<StereoPoint2> : public internal::Manifold<StereoPoint2> {};
 }