(in branch) Made Rot3 derive from Value

gtsam/geometry/Rot3.h

@@ -32,6 +32,7 @@
 #endif
 #endif
 
+#include <gtsam/base/Value.h>
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/3rdparty/Eigen/Eigen/Geometry>
 
@@ -49,7 +50,7 @@ namespace gtsam {
    * @ingroup geometry
    * \nosubgrouping
    */
-  class Rot3 {
+  class Rot3 : public Value {
   public:
     static const size_t dimension = 3;
 
@@ -92,6 +93,9 @@ namespace gtsam {
      */
     Rot3(const Quaternion& q);
 
+    /** Virtual destructor */
+    virtual ~Rot3() {}
+
     /* Static member function to generate some well known rotations */
 
     /// Rotation around X axis as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis.
@@ -184,6 +188,9 @@ namespace gtsam {
     /** equals with an tolerance */
     bool equals(const Rot3& p, double tol = 1e-9) const;
 
+    /** equals implementing generic Value interface */
+    virtual bool equals_(const Value& p, double tol = 1e-9) const { return CallDerivedEquals(this, p, tol); }
+
     /// @}
     /// @name Group
     /// @{
@@ -235,7 +242,7 @@ namespace gtsam {
     static size_t Dim() { return dimension; }
 
     /// return dimensionality of tangent space, DOF = 3
-    size_t dim() const { return dimension; }
+    virtual size_t dim() const { return dimension; }
 
     /**
      * The method retract() is used to map from the tangent space back to the manifold.
@@ -265,6 +272,12 @@ namespace gtsam {
     /// Returns local retract coordinates in neighborhood around current rotation
     Vector localCoordinates(const Rot3& t2, Rot3::CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE) const;
 
+    /// Generic Value interface version of retract
+    virtual std::auto_ptr<Value> retract_(const Vector& omega) const { return CallDerivedRetract(this, omega); }
+
+    /// Generic Value interface version of localCoordinates
+    virtual Vector localCoordinates_(const Value& value) const { return CallDerivedLocalCoordinates(this, value); }
+
     /// @}
     /// @name Lie Group
     /// @{