From b22a39e66370dc093bc388aaec4284fbca900577 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Sat, 15 Oct 2011 18:38:51 +0000
Subject: [PATCH] Cleaned up use of concept checks in generic factors

---
 gtsam/base/Testable.h           |  8 ++++++--
 gtsam/geometry/Pose2.cpp        |  2 +-
 gtsam/geometry/Pose3.cpp        |  2 +-
 gtsam/geometry/concepts.h       | 25 ++++++++++++++++++-------
 gtsam/slam/BearingFactor.h      |  2 ++
 gtsam/slam/BearingRangeFactor.h |  3 ++-
 gtsam/slam/RangeFactor.h        |  2 +-
 7 files changed, 31 insertions(+), 13 deletions(-)

diff --git a/gtsam/base/Testable.h b/gtsam/base/Testable.h
index 51945f64f..b638e951a 100644
--- a/gtsam/base/Testable.h
+++ b/gtsam/base/Testable.h
@@ -67,7 +67,8 @@ namespace gtsam {
 
 	/**
 	 * A testable concept check to be placed in unit tests, rather than subclassing
-	 *
+	 * See macros for details on using this structure
+	 * @ingroup base
 	 */
 	template <class T>
 	class TestableConcept {
@@ -122,12 +123,15 @@ namespace gtsam {
 		}
 	};
 
-} // gtsam
+} // \namespace gtsam
 
 /**
  * Macros for using the TestableConcept
  *  - An instantiation for use inside unit tests
  *  - A typedef for use inside generic algorithms
+ *
+ * NOTE: intentionally not in the gtsam namespace to allow for classes not in
+ * the gtsam namespace to be more easily enforced as testable
  */
 #define GTSAM_CONCEPT_TESTABLE_INST(T) template class gtsam::TestableConcept<T>;
 #define GTSAM_CONCEPT_TESTABLE_TYPE(T) typedef gtsam::TestableConcept<T> _gtsam_TestableConcept_##T;
diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp
index 021340ccd..a41968f79 100644
--- a/gtsam/geometry/Pose2.cpp
+++ b/gtsam/geometry/Pose2.cpp
@@ -27,7 +27,7 @@ namespace gtsam {
   INSTANTIATE_LIE(Pose2);
 
   /** instantiate concept checks */
-  GTSAM_CONCEPT_POSE(Pose2);
+  GTSAM_CONCEPT_POSE_INST(Pose2);
 
 	static const Matrix I3 = eye(3), Z12 = zeros(1,2);
   static const Rot2 R_PI_2(Rot2::fromCosSin(0., 1.));
diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 60571d04f..b1b00582d 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -27,7 +27,7 @@ namespace gtsam {
   INSTANTIATE_LIE(Pose3);
 
   /** instantiate concept checks */
-  GTSAM_CONCEPT_POSE(Pose3);
+  GTSAM_CONCEPT_POSE_INST(Pose3);
 
   static const Matrix I3 = eye(3), Z3 = zeros(3, 3);
 #ifdef CORRECT_POSE3_EXMAP
diff --git a/gtsam/geometry/concepts.h b/gtsam/geometry/concepts.h
index 86e7510e1..249e420a0 100644
--- a/gtsam/geometry/concepts.h
+++ b/gtsam/geometry/concepts.h
@@ -35,9 +35,6 @@ struct PoseConcept {
 	}
 };
 
-/** Instantiation macro */
-#define GTSAM_CONCEPT_POSE(T) template class PoseConcept<T>;
-
 /**
  * Range measurement concept
  * Given a pair of Lie variables, there must exist a function to calculate
@@ -51,12 +48,26 @@ struct RangeMeasurementConcept {
 
 	static double checkRangeMeasurementDerivatives(const V1& x, const V2& p) {
 		boost::optional<Matrix&> H1, H2;
-		// FIXME: verify the dimensions of the derivative functions
 		return x.range(p, H1, H2);
 	}
 };
 
-/** Instantiation macro */
-#define GTSAM_CONCEPT_RANGE_MEASUREMENT(V1,V2) typedef RangeMeasurementConcept<V1,V2> RangeMeasurementConcept##V1##V2;
-
 } // \namespace gtsam
+
+/**
+ * Macros to use geometry concepts:
+ *  - _INST macro: instantiates a struct: use in unit tests, but not in headers.
+ *  - _TYPE macro: use in generic structures to validate the template arguments.
+ *
+ * NOTE: intentionally not in the gtsam namespace to avoid namespace complications
+ * when using with objects not inside gtsam namespace.
+ */
+
+/** Pose Concept macros */
+#define GTSAM_CONCEPT_POSE_INST(T) template class gtsam::PoseConcept<T>;
+#define GTSAM_CONCEPT_POSE_TYPE(T) typedef gtsam::PoseConcept<T> _gtsam_PoseConcept##T;
+
+/** Range Measurement macros */
+#define GTSAM_CONCEPT_RANGE_MEASUREMENT_INST(V1,V2) template class gtsam::RangeMeasurementConcept<V1,V2>;
+#define GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(V1,V2) typedef gtsam::RangeMeasurementConcept<V1,V2> _gtsam_RangeMeasurementConcept##V1##V2;
+
diff --git a/gtsam/slam/BearingFactor.h b/gtsam/slam/BearingFactor.h
index 418e03350..80dea266e 100644
--- a/gtsam/slam/BearingFactor.h
+++ b/gtsam/slam/BearingFactor.h
@@ -17,6 +17,7 @@
 #pragma once
 
 #include <gtsam/base/Testable.h>
+#include <gtsam/geometry/concepts.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
 
 namespace gtsam {
@@ -39,6 +40,7 @@ namespace gtsam {
 
 		/** concept check by type */
 		GTSAM_CONCEPT_TESTABLE_TYPE(Rot)
+		GTSAM_CONCEPT_POSE_TYPE(Pose)
 
 	public:
 
diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h
index 69f849391..3c4a7d8a8 100644
--- a/gtsam/slam/BearingRangeFactor.h
+++ b/gtsam/slam/BearingRangeFactor.h
@@ -44,7 +44,8 @@ namespace gtsam {
 
 		/** concept check by type */
 		GTSAM_CONCEPT_TESTABLE_TYPE(Rot)
-		GTSAM_CONCEPT_RANGE_MEASUREMENT(Pose, Point)
+		GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(Pose, Point)
+		GTSAM_CONCEPT_POSE_TYPE(Pose)
 
 	public:
 
diff --git a/gtsam/slam/RangeFactor.h b/gtsam/slam/RangeFactor.h
index afa17cb19..89ed407fa 100644
--- a/gtsam/slam/RangeFactor.h
+++ b/gtsam/slam/RangeFactor.h
@@ -38,7 +38,7 @@ namespace gtsam {
 		typedef typename POINTKEY::Value Point;
 
 		// Concept requirements for this factor
-		GTSAM_CONCEPT_RANGE_MEASUREMENT(Pose, Point)
+		GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(Pose, Point)
 
 	public: