From 7508aa1fecc8f15b8439e030b16ca0914aac7a6e Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Tue, 10 Feb 2015 19:04:25 +0100
Subject: [PATCH] Put in dummy code so compiles and links - tests fail,
 obviously

---
 gtsam/geometry/Rot3Q.cpp | 62 +++++++++++++++++++++++++---------------
 1 file changed, 39 insertions(+), 23 deletions(-)

diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp
index 8696900aa..af5c3f526 100644
--- a/gtsam/geometry/Rot3Q.cpp
+++ b/gtsam/geometry/Rot3Q.cpp
@@ -85,16 +85,17 @@ namespace gtsam {
 
   /* ************************************************************************* */
   Rot3 Rot3::rodriguez(const Vector3& w, double theta) {
-    return QuaternionChart::Expmap(theta,w);
+// TODO   return QuaternionChart::Expmap(theta,w);
+    return Rot3();
   }
 
   /* ************************************************************************* */
-  Rot3 Rot3::compose(const Rot3& R2,
-  OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const {
-    if (H1) *H1 = R2.transpose();
-    if (H2) *H2 = I3;
-    return Rot3(quaternion_ * R2.quaternion_);
-  }
+//  Rot3 Rot3::compose(const Rot3& R2,
+//  OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const {
+//    if (H1) *H1 = R2.transpose();
+//    if (H2) *H2 = I3;
+//    return Rot3(quaternion_ * R2.quaternion_);
+//  }
 
   /* ************************************************************************* */
   Rot3 Rot3::operator*(const Rot3& R2) const {
@@ -102,10 +103,10 @@ namespace gtsam {
   }
 
   /* ************************************************************************* */
-  Rot3 Rot3::inverse(OptionalJacobian<3,3> H1) const {
-    if (H1) *H1 = -matrix();
-    return Rot3(quaternion_.inverse());
-  }
+//  Rot3 Rot3::inverse(OptionalJacobian<3,3> H1) const {
+//    if (H1) *H1 = -matrix();
+//    return Rot3(quaternion_.inverse());
+//  }
 
   /* ************************************************************************* */
   // TODO: Could we do this? It works in Rot3M but not here, probably because
@@ -116,12 +117,12 @@ namespace gtsam {
   }
 
   /* ************************************************************************* */
-  Rot3 Rot3::between(const Rot3& R2,
-  OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const {
-    if (H1) *H1 = -(R2.transpose()*matrix());
-    if (H2) *H2 = I3;
-    return inverse() * R2;
-  }
+//  Rot3 Rot3::between(const Rot3& R2,
+//  OptionalJacobian<3,3> H1, OptionalJacobian<3,3> H2) const {
+//    if (H1) *H1 = -(R2.transpose()*matrix());
+//    if (H2) *H2 = I3;
+//    return inverse() * R2;
+//  }
 
   /* ************************************************************************* */
   Point3 Rot3::rotate(const Point3& p,
@@ -135,20 +136,35 @@ namespace gtsam {
 
   /* ************************************************************************* */
   Vector3 Rot3::Logmap(const Rot3& R, OptionalJacobian<3, 3> H) {
-    if(H) *H = Rot3::LogmapDerivative(thetaR);
-    return QuaternionChart::Logmap(R.quaternion_);
+//    if(H) *H = Rot3::LogmapDerivative(thetaR);
+//    return QuaternionChart::Logmap(R.quaternion_);
+    return Vector3(0,0,0);
   }
 
   /* ************************************************************************* */
-  Rot3 Rot3::retract(const Vector& omega, Rot3::CoordinatesMode mode) const {
-    return compose(Expmap(omega));
+  Rot3 Rot3::ChartAtOrigin::Retract(const Vector3& omega, ChartJacobian H) {
+    static const CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE;
+    if (mode == Rot3::EXPMAP) return Expmap(omega, H);
+    else throw std::runtime_error("Rot3::Retract: unknown mode");
   }
 
   /* ************************************************************************* */
-  Vector3 Rot3::localCoordinates(const Rot3& t2, Rot3::CoordinatesMode mode) const {
-    return Logmap(between(t2));
+  Vector3 Rot3::ChartAtOrigin::Local(const Rot3& R, ChartJacobian H) {
+    static const CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE;
+    if (mode == Rot3::EXPMAP) return Logmap(R, H);
+    else throw std::runtime_error("Rot3::Local: unknown mode");
   }
 
+  /* ************************************************************************* */
+//  Rot3 Rot3::retract(const Vector& omega, Rot3::CoordinatesMode mode) const {
+//    return compose(Expmap(omega));
+//  }
+
+  /* ************************************************************************* */
+//  Vector3 Rot3::localCoordinates(const Rot3& t2, Rot3::CoordinatesMode mode) const {
+//    return Logmap(between(t2));
+//  }
+
   /* ************************************************************************* */
   Matrix3 Rot3::matrix() const {return quaternion_.toRotationMatrix();}