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Allow dynamic dimension Lie groups

release/4.3a0
Frank Dellaert 2019-05-04 17:18:31 -04:00 committed by Fan Jiang
parent 676f93ebd8
commit 6f071928bc
1 changed files with 0 additions and 6 deletions
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6
gtsam/base/Lie.h
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@ -35,9 +35,6 @@ namespace gtsam {
template <class Class, int N> template <class Class, int N>
struct LieGroup { struct LieGroup {
BOOST_STATIC_ASSERT_MSG(N != Eigen::Dynamic,
"LieGroup not yet specialized for dynamically sized types.");
enum { dimension = N }; enum { dimension = N };
typedef OptionalJacobian<N, N> ChartJacobian; typedef OptionalJacobian<N, N> ChartJacobian;
typedef Eigen::Matrix<double, N, N> Jacobian; typedef Eigen::Matrix<double, N, N> Jacobian;
@ -190,9 +187,6 @@ struct LieGroupTraits {
typedef Eigen::Matrix<double, dimension, 1> TangentVector; typedef Eigen::Matrix<double, dimension, 1> TangentVector;
typedef OptionalJacobian<dimension, dimension> ChartJacobian; typedef OptionalJacobian<dimension, dimension> ChartJacobian;
BOOST_STATIC_ASSERT_MSG(dimension != Eigen::Dynamic,
"LieGroupTraits not yet specialized for dynamically sized types.");
static int GetDimension(const Class&) {return dimension;} static int GetDimension(const Class&) {return dimension;}
static TangentVector Local(const Class& origin, const Class& other, static TangentVector Local(const Class& origin, const Class& other,