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Made Event into new-style manifold

release/4.3a0
dellaert 2014-12-28 18:24:00 +01:00
parent 4e9d31d40d
commit 7c455efe50
1 changed files with 2 additions and 19 deletions
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21
gtsam_unstable/geometry/Event.h
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@ -31,6 +31,7 @@ class Event {
Point3 location_; ///< Location at time event was generated Point3 location_; ///< Location at time event was generated
public: public:
enum { dimension = 4 };
/// Speed of sound /// Speed of sound
static const double Speed; static const double Speed;
@ -72,15 +73,6 @@ public:
&& location_.equals(other.location_, tol); && 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 /// Updates a with tangent space delta
inline Event retract(const Vector4& v) const { inline Event retract(const Vector4& v) const {
return Event(time_ + v[0], location_.retract(v.tail(3))); 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(); const Matrix14 Event::JacobianZ = (Matrix14() << 0,0,0,1).finished();
// Define GTSAM traits // Define GTSAM traits
namespace traits {
template<> template<>
struct GTSAM_EXPORT dimension<Event> : public boost::integral_constant<int, 4> { struct GTSAM_EXPORT traits<Event> : internal::Manifold<Event> {};
};
template<>
struct GTSAM_EXPORT is_manifold<Event> : public boost::true_type {
};
}
} //\ namespace gtsam } //\ namespace gtsam