12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

group concept operator usage with tags

release/4.3a0
Mike Bosse 2014-12-04 13:11:45 +01:00
parent b6576d7e27
commit 978c17ceb6
1 changed files with 15 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
gtsam/base/concepts.h
View File

@ -25,6 +25,9 @@ struct Manifold {
typedef Chart::value_type type; typedef Chart::value_type type;
}; };
struct additive_group_tag {};
struct multiplicative_group_tag {};
} // namespace traits } // namespace traits
template<class T> template<class T>
@ -77,16 +80,27 @@ class GroupConcept {
Group pq = compose(p, q); Group pq = compose(p, q);
Group d = between(p, q); Group d = between(p, q);
bool test = equal(p, q); bool test = equal(p, q);
operator_usage(p, q, traits::group_flavor<Group>::tag);
} }
bool check_invariants(const Group& a, const Group& b) { bool check_invariants(const Group& a, const Group& b) {
return (equal(compose(a, inverse(a)), identity)) return (equal(compose(a, inverse(a)), identity))
&& (equal(between(a, b), compose(inverse(a), b))) && (equal(between(a, b), compose(inverse(a), b)))
&& (equal(compose(a, between(a, b)), b)); && (equal(compose(a, between(a, b)), b))
&& operator_usage(a, b, traits::group_flavor<Group>::tag)
} }
private: private:
Group p,q; Group p,q;
bool operator_usage(const Group& a, const Group& b, traits::multiplicative_group_tag) {
return equals(compose(a, b), a*b);
}
bool operator_usage(const Group& a, const Group& b, traits::additive_group_tag) {
return equals(compose(a, b), a+b);
}
}; };
} // namespace gtsam } // namespace gtsam