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added vector space concept check, but not sure it will work...

release/4.3a0
Mike Bosse 2014-12-04 22:15:20 +01:00
parent 2fa9d0f557
commit b5e3c8816d
1 changed files with 22 additions and 1 deletions
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23
gtsam/base/concepts.h
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@ -50,7 +50,6 @@ template<class T>
class ManifoldConcept { class ManifoldConcept {
public: public:
typedef T Manifold; typedef T Manifold;
typedef traits::manifold_tag<T> manifold_tag;
typedef traits::TangentVector<T>::type TangentVector; typedef traits::TangentVector<T>::type TangentVector;
typedef traits::DefaultChart<T>::type DefaultChart; typedef traits::DefaultChart<T>::type DefaultChart;
static const size_t dim = traits::dimension<T>::value; static const size_t dim = traits::dimension<T>::value;
@ -126,7 +125,29 @@ class LieGroupConcept : public GroupConcept<L>, public ManifoldConcept<L> {
} }
}; };
template <class V>
class VectorSpaceConcept : public LieGroupConcept {
typedef traits::DefaultChart<V>::type Chart;
typedef GroupConcept<V>::identity identity;
BOOST_CONCEPT_USAGE(VectorSpaceConcept) {
BOOST_STATIC_ASSERT(boost::is_base_of<traits::vector_space_tag, traits::structure<L> >);
r = p+q;
r = -p;
r = p-q;
}
bool check_invariants(const V& a, const V& b) {
return equal(compose(a, b), a+b)
&& equal(inverse(a), -a)
&& equal(between(a, b), b-a)
&& equal(Chart::retract(a, b), a+b)
&& equal(Chart::local(a, b), b-a);
}
private:
V p,q,r;
};
} // namespace gtsam } // namespace gtsam