diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h index ac7c2a9a5..cb8e7d017 100644 --- a/gtsam/base/Lie.h +++ b/gtsam/base/Lie.h @@ -370,4 +370,4 @@ public: * the gtsam namespace to be more easily enforced as testable */ #define GTSAM_CONCEPT_LIE_INST(T) template class gtsam::IsLieGroup; -#define GTSAM_CONCEPT_LIE_TYPE(T) typedef gtsam::IsLieGroup _gtsam_IsLieGroup_##T; +#define GTSAM_CONCEPT_LIE_TYPE(T) using _gtsam_IsLieGroup_##T = gtsam::IsLieGroup; diff --git a/gtsam/base/Manifold.h b/gtsam/base/Manifold.h index a14404268..962dc8269 100644 --- a/gtsam/base/Manifold.h +++ b/gtsam/base/Manifold.h @@ -178,4 +178,4 @@ struct FixedDimension { // * the gtsam namespace to be more easily enforced as testable // */ #define GTSAM_CONCEPT_MANIFOLD_INST(T) template class gtsam::IsManifold; -#define GTSAM_CONCEPT_MANIFOLD_TYPE(T) using _gtsam_IsManifold_##T = gtsam::IsManifold +#define GTSAM_CONCEPT_MANIFOLD_TYPE(T) using _gtsam_IsManifold_##T = gtsam::IsManifold; diff --git a/gtsam/base/Testable.h b/gtsam/base/Testable.h index 74e237699..d50d62c1f 100644 --- a/gtsam/base/Testable.h +++ b/gtsam/base/Testable.h @@ -173,4 +173,4 @@ namespace gtsam { * @deprecated please use BOOST_CONCEPT_ASSERT and */ #define GTSAM_CONCEPT_TESTABLE_INST(T) template class gtsam::IsTestable; -#define GTSAM_CONCEPT_TESTABLE_TYPE(T) using _gtsam_Testable_##T = gtsam::IsTestable +#define GTSAM_CONCEPT_TESTABLE_TYPE(T) using _gtsam_Testable_##T = gtsam::IsTestable; diff --git a/gtsam/base/chartTesting.h b/gtsam/base/chartTesting.h index f63054a5b..8f5213f91 100644 --- a/gtsam/base/chartTesting.h +++ b/gtsam/base/chartTesting.h @@ -32,7 +32,7 @@ void testDefaultChart(TestResult& result_, const std::string& name_, const T& value) { - GTSAM_CONCEPT_TESTABLE_TYPE(T); + GTSAM_CONCEPT_TESTABLE_TYPE(T) typedef typename gtsam::DefaultChart Chart; typedef typename Chart::vector Vector; diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h index cc6435a58..7a0b08227 100644 --- a/gtsam/geometry/PinholePose.h +++ b/gtsam/geometry/PinholePose.h @@ -35,7 +35,7 @@ class GTSAM_EXPORT PinholeBaseK: public PinholeBase { private: - GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION); + GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION) // Get dimensions of calibration type at compile time static const int DimK = FixedDimension::value; diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index e225bac5f..7dd414193 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -110,7 +110,7 @@ class ClusterTree { typedef sharedCluster sharedNode; /** concept check */ - GTSAM_CONCEPT_TESTABLE_TYPE(FactorType); + GTSAM_CONCEPT_TESTABLE_TYPE(FactorType) protected: FastVector roots_; diff --git a/gtsam/inference/EliminationTree.h b/gtsam/inference/EliminationTree.h index e4a64c589..70e10b3bd 100644 --- a/gtsam/inference/EliminationTree.h +++ b/gtsam/inference/EliminationTree.h @@ -81,7 +81,7 @@ namespace gtsam { protected: /** concept check */ - GTSAM_CONCEPT_TESTABLE_TYPE(FactorType); + GTSAM_CONCEPT_TESTABLE_TYPE(FactorType) FastVector roots_; FastVector remainingFactors_; diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 0a0c89f50..e337e3249 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -121,7 +121,7 @@ class FactorGraph { protected: /** concept check, makes sure FACTOR defines print and equals */ - GTSAM_CONCEPT_TESTABLE_TYPE(FACTOR); + GTSAM_CONCEPT_TESTABLE_TYPE(FACTOR) /** Collection of factors */ FastVector factors_; diff --git a/gtsam/navigation/MagPoseFactor.h b/gtsam/navigation/MagPoseFactor.h index feb6e0e19..c0a6a7ece 100644 --- a/gtsam/navigation/MagPoseFactor.h +++ b/gtsam/navigation/MagPoseFactor.h @@ -45,7 +45,7 @@ class MagPoseFactor: public NoiseModelFactor1 { using shared_ptr = boost::shared_ptr>; /// Concept check by type. - GTSAM_CONCEPT_TESTABLE_TYPE(POSE); + GTSAM_CONCEPT_TESTABLE_TYPE(POSE) GTSAM_CONCEPT_POSE_TYPE(POSE); public: diff --git a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h index fd9e49a62..a7a0d724b 100644 --- a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h +++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h @@ -149,7 +149,7 @@ boost::tuple nonlinearConjugateGradient(const S &system, const V &initial, const NonlinearOptimizerParams ¶ms, const bool singleIteration, const bool gradientDescent = false) { - // GTSAM_CONCEPT_MANIFOLD_TYPE(V); + // GTSAM_CONCEPT_MANIFOLD_TYPE(V) size_t iteration = 0; diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h index 1d7be99fd..43d30254e 100644 --- a/gtsam/nonlinear/NonlinearEquality.h +++ b/gtsam/nonlinear/NonlinearEquality.h @@ -218,9 +218,8 @@ protected: X value_; /// fixed value for variable - GTSAM_CONCEPT_MANIFOLD_TYPE(X); - - GTSAM_CONCEPT_TESTABLE_TYPE(X); + GTSAM_CONCEPT_MANIFOLD_TYPE(X) + GTSAM_CONCEPT_TESTABLE_TYPE(X) public: @@ -296,7 +295,7 @@ class NonlinearEquality2 : public NoiseModelFactor2 { using Base = NoiseModelFactor2; using This = NonlinearEquality2; - GTSAM_CONCEPT_MANIFOLD_TYPE(T); + GTSAM_CONCEPT_MANIFOLD_TYPE(T) /// Default constructor to allow for serialization NonlinearEquality2() {} diff --git a/gtsam/nonlinear/PriorFactor.h b/gtsam/nonlinear/PriorFactor.h index 71c204ad0..c745f7bd9 100644 --- a/gtsam/nonlinear/PriorFactor.h +++ b/gtsam/nonlinear/PriorFactor.h @@ -39,7 +39,7 @@ namespace gtsam { VALUE prior_; /** The measurement */ /** concept check by type */ - GTSAM_CONCEPT_TESTABLE_TYPE(T); + GTSAM_CONCEPT_TESTABLE_TYPE(T) public: diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index 2e4543177..bfc3a0f78 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -59,8 +59,8 @@ namespace gtsam { template class GeneralSFMFactor: public NoiseModelFactor2 { - GTSAM_CONCEPT_MANIFOLD_TYPE(CAMERA); - GTSAM_CONCEPT_MANIFOLD_TYPE(LANDMARK); + GTSAM_CONCEPT_MANIFOLD_TYPE(CAMERA) + GTSAM_CONCEPT_MANIFOLD_TYPE(LANDMARK) static const int DimC = FixedDimension::value; static const int DimL = FixedDimension::value; @@ -202,7 +202,7 @@ struct traits > : Testable< template class GeneralSFMFactor2: public NoiseModelFactor3 { - GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION); + GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION) static const int DimK = FixedDimension::value; protected: diff --git a/gtsam_unstable/slam/BetweenFactorEM.h b/gtsam_unstable/slam/BetweenFactorEM.h index f78f9b334..572935da3 100644 --- a/gtsam_unstable/slam/BetweenFactorEM.h +++ b/gtsam_unstable/slam/BetweenFactorEM.h @@ -56,8 +56,8 @@ private: bool flag_bump_up_near_zero_probs_; /** concept check by type */ - GTSAM_CONCEPT_LIE_TYPE(T); - GTSAM_CONCEPT_TESTABLE_TYPE(T); + GTSAM_CONCEPT_LIE_TYPE(T) + GTSAM_CONCEPT_TESTABLE_TYPE(T) public: diff --git a/gtsam_unstable/slam/PoseBetweenFactor.h b/gtsam_unstable/slam/PoseBetweenFactor.h index 624fd4a54..444da275d 100644 --- a/gtsam_unstable/slam/PoseBetweenFactor.h +++ b/gtsam_unstable/slam/PoseBetweenFactor.h @@ -40,7 +40,7 @@ namespace gtsam { boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame /** concept check by type */ - GTSAM_CONCEPT_TESTABLE_TYPE(POSE); + GTSAM_CONCEPT_TESTABLE_TYPE(POSE) GTSAM_CONCEPT_POSE_TYPE(POSE); public: diff --git a/gtsam_unstable/slam/PosePriorFactor.h b/gtsam_unstable/slam/PosePriorFactor.h index bea849c00..665bb4680 100644 --- a/gtsam_unstable/slam/PosePriorFactor.h +++ b/gtsam_unstable/slam/PosePriorFactor.h @@ -37,7 +37,7 @@ namespace gtsam { boost::optional body_P_sensor_; ///< The pose of the sensor in the body frame /** concept check by type */ - GTSAM_CONCEPT_TESTABLE_TYPE(POSE); + GTSAM_CONCEPT_TESTABLE_TYPE(POSE) GTSAM_CONCEPT_POSE_TYPE(POSE); public: diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h index 3f2e02a78..956c75999 100644 --- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h +++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h @@ -55,8 +55,8 @@ namespace gtsam { SharedGaussian model_; /** concept check by type */ - GTSAM_CONCEPT_LIE_TYPE(T); - GTSAM_CONCEPT_TESTABLE_TYPE(T); + GTSAM_CONCEPT_LIE_TYPE(T) + GTSAM_CONCEPT_TESTABLE_TYPE(T) public: