diff --git a/gtsam_unstable/geometry/Event.h b/gtsam_unstable/geometry/Event.h index 143f849bc..9d35331bb 100644 --- a/gtsam_unstable/geometry/Event.h +++ b/gtsam_unstable/geometry/Event.h @@ -31,6 +31,7 @@ class Event { Point3 location_; ///< Location at time event was generated public: + enum { dimension = 4 }; /// Speed of sound static const double Speed; @@ -72,15 +73,6 @@ public: && location_.equals(other.location_, tol); } - /// Manifold stuff: - - size_t dim() const { - return 4; - } - static size_t Dim() { - return 4; - } - /// Updates a with tangent space delta inline Event retract(const Vector4& v) const { return Event(time_ + v[0], location_.retract(v.tail(3))); @@ -111,16 +103,7 @@ const double Event::Speed = 330; const Matrix14 Event::JacobianZ = (Matrix14() << 0,0,0,1).finished(); // Define GTSAM traits -namespace traits { - template<> -struct GTSAM_EXPORT dimension : public boost::integral_constant { -}; - -template<> -struct GTSAM_EXPORT is_manifold : public boost::true_type { -}; - -} +struct GTSAM_EXPORT traits : internal::Manifold {}; } //\ namespace gtsam