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Modernized group traits

release/4.3a0
dellaert 2015-05-23 22:00:21 -07:00
parent 283faba562
commit 8d97415239
2 changed files with 34 additions and 32 deletions
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42
gtsam/base/Group.h
View File

@ -13,8 +13,9 @@
* @file Group.h * @file Group.h
* *
* @brief Concept check class for variable types with Group properties * @brief Concept check class for variable types with Group properties
* @date Nov 5, 2011 * @date November, 2011
* @author Alex Cunningham * @author Alex Cunningham
* @author Frank Dellaert
*/ */
#pragma once #pragma once
@ -83,21 +84,34 @@ check_group_invariants(const G& a, const G& b, double tol = 1e-9) {
&& traits<G>::Equals(traits<G>::Compose(a, traits<G>::Between(a, b)), b, tol); && traits<G>::Equals(traits<G>::Compose(a, traits<G>::Between(a, b)), b, tol);
} }
/// Macro to add group traits, additive flavor namespace internal {
#define GTSAM_ADDITIVE_GROUP(GROUP) \
typedef additive_group_tag group_flavor; \
static GROUP Compose(const GROUP &g, const GROUP & h) { return g + h;} \
static GROUP Between(const GROUP &g, const GROUP & h) { return h - g;} \
static GROUP Inverse(const GROUP &g) { return -g;}
/// Macro to add group traits, multiplicative flavor /// A helper class that implements the traits interface for groups.
#define GTSAM_MULTIPLICATIVE_GROUP(GROUP) \ template<class Class>
typedef additive_group_tag group_flavor; \ struct GroupTraits {
static GROUP Compose(const GROUP &g, const GROUP & h) { return g * h;} \ typedef group_tag structure_category;
static GROUP Between(const GROUP &g, const GROUP & h) { return g.inverse() * h;} \ static Class Identity() { return Class::Identity(); }
static GROUP Inverse(const GROUP &g) { return g.inverse();} };
} // \ namespace gtsam /// A helper class that implements the traits interface for additive groups.
template<class Class>
struct AdditiveGroupTraits : GroupTraits<Class> {
typedef additive_group_tag group_flavor; \
static Class Compose(const Class &g, const Class & h) { return g + h;} \
static Class Between(const Class &g, const Class & h) { return h - g;} \
static Class Inverse(const Class &g) { return -g;}
};
/// A helper class that implements the traits interface for multiplicative groups.
template<class Class>
struct MultiplicativeGroupTraits : GroupTraits<Class> {
typedef additive_group_tag group_flavor; \
static Class Compose(const Class &g, const Class & h) { return g * h;} \
static Class Between(const Class &g, const Class & h) { return g.inverse() * h;} \
static Class Inverse(const Class &g) { return g.inverse();}
};
} // namespace internal
} // namespace gtsam
/** /**
* Macros for using the IsGroup * Macros for using the IsGroup

24
gtsam/geometry/Cyclic.h
View File

@ -16,10 +16,8 @@
**/ **/
#include <gtsam/base/Group.h> #include <gtsam/base/Group.h>
#include <cstddef> #include <gtsam/base/Testable.h>
#include <string> #include <iostream> // for cout :-(
#include <iostream>
#include <assert.h>
namespace gtsam { namespace gtsam {
@ -33,7 +31,7 @@ public:
i_(i) { i_(i) {
assert(i < N); assert(i < N);
} }
/// Idenity element /// Identity element
static Cyclic Identity() { static Cyclic Identity() {
return Cyclic(0); return Cyclic(0);
} }
@ -63,20 +61,10 @@ public:
} }
}; };
/// Define cyclic group traits to be a model of the Group concept /// Define cyclic group traits to be a model of the Additive Group concept
template<size_t N> template<size_t N>
struct traits<Cyclic<N> > { struct traits<Cyclic<N> > : internal::AdditiveGroupTraits<Cyclic<N> >, //
typedef group_tag structure_category;GTSAM_ADDITIVE_GROUP(Cyclic<N>) Testable<Cyclic<N> > {
static Cyclic<N> Identity() {
return Cyclic<N>::Identity();
}
static bool Equals(const Cyclic<N>& a, const Cyclic<N>& b,
double tol = 1e-9) {
return a.equals(b, tol);
}
static void Print(const Cyclic<N>& c, const std::string &s = "") {
c.print(s);
}
}; };
} // \namespace gtsam } // \namespace gtsam