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typedefs are no longer possible with CRTP :-(

release/4.3a0
dellaert 2015-05-25 16:51:08 -07:00
parent 6569bd49aa
commit b8a8a16348
2 changed files with 37 additions and 29 deletions
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6
gtsam/base/tests/testGroup.cpp
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@ -103,7 +103,11 @@ TEST(Group, S3) {
//******************************************************************************
// The direct product of S2=Z2 and S3 is the symmetry group of a hexagon,
// i.e., the dihedral group of order 12 (denoted Dih6 because 6-sided polygon)
typedef DirectProduct<S2, S3> Dih6;
struct Dih6 : DirectProduct<Dih6, S2, S3> {
typedef DirectProduct<Dih6, S2, S3> Base;
Dih6(const S2& g, const S3& h):Base(g,h) {}
Dih6() {}
};
std::ostream &operator<<(std::ostream &os, const Dih6& m) {
os << "( " << m.first << ", " << m.second << ")";

60
gtsam/geometry/tests/testCyclic.cpp
View File

@ -22,72 +22,77 @@
using namespace std;
using namespace gtsam;
typedef Cyclic<3> G; // Let's use the cyclic group of order 3
typedef Cyclic<3> Z3; // Let's use the cyclic group of order 3
typedef Cyclic<2> Z2;
//******************************************************************************
TEST(Cyclic, Concept) {
BOOST_CONCEPT_ASSERT((IsGroup<G>));
EXPECT_LONGS_EQUAL(0, traits<G>::Identity());
BOOST_CONCEPT_ASSERT((IsGroup<Z3>));
EXPECT_LONGS_EQUAL(0, traits<Z3>::Identity());
}
//******************************************************************************
TEST(Cyclic, Constructor) {
G g(0);
Z3 g(0);
}
//******************************************************************************
TEST(Cyclic, Compose) {
EXPECT_LONGS_EQUAL(0, traits<G>::Compose(G(0),G(0)));
EXPECT_LONGS_EQUAL(1, traits<G>::Compose(G(0),G(1)));
EXPECT_LONGS_EQUAL(2, traits<G>::Compose(G(0),G(2)));
EXPECT_LONGS_EQUAL(0, traits<Z3>::Compose(Z3(0),Z3(0)));
EXPECT_LONGS_EQUAL(1, traits<Z3>::Compose(Z3(0),Z3(1)));
EXPECT_LONGS_EQUAL(2, traits<Z3>::Compose(Z3(0),Z3(2)));
EXPECT_LONGS_EQUAL(2, traits<G>::Compose(G(2),G(0)));
EXPECT_LONGS_EQUAL(0, traits<G>::Compose(G(2),G(1)));
EXPECT_LONGS_EQUAL(1, traits<G>::Compose(G(2),G(2)));
EXPECT_LONGS_EQUAL(2, traits<Z3>::Compose(Z3(2),Z3(0)));
EXPECT_LONGS_EQUAL(0, traits<Z3>::Compose(Z3(2),Z3(1)));
EXPECT_LONGS_EQUAL(1, traits<Z3>::Compose(Z3(2),Z3(2)));
}
//******************************************************************************
TEST(Cyclic, Between) {
EXPECT_LONGS_EQUAL(0, traits<G>::Between(G(0),G(0)));
EXPECT_LONGS_EQUAL(1, traits<G>::Between(G(0),G(1)));
EXPECT_LONGS_EQUAL(2, traits<G>::Between(G(0),G(2)));
EXPECT_LONGS_EQUAL(0, traits<Z3>::Between(Z3(0),Z3(0)));
EXPECT_LONGS_EQUAL(1, traits<Z3>::Between(Z3(0),Z3(1)));
EXPECT_LONGS_EQUAL(2, traits<Z3>::Between(Z3(0),Z3(2)));
EXPECT_LONGS_EQUAL(1, traits<G>::Between(G(2),G(0)));
EXPECT_LONGS_EQUAL(2, traits<G>::Between(G(2),G(1)));
EXPECT_LONGS_EQUAL(0, traits<G>::Between(G(2),G(2)));
EXPECT_LONGS_EQUAL(1, traits<Z3>::Between(Z3(2),Z3(0)));
EXPECT_LONGS_EQUAL(2, traits<Z3>::Between(Z3(2),Z3(1)));
EXPECT_LONGS_EQUAL(0, traits<Z3>::Between(Z3(2),Z3(2)));
}
//******************************************************************************
TEST(Cyclic, Inverse) {
EXPECT_LONGS_EQUAL(0, traits<G>::Inverse(G(0)));
EXPECT_LONGS_EQUAL(2, traits<G>::Inverse(G(1)));
EXPECT_LONGS_EQUAL(1, traits<G>::Inverse(G(2)));
EXPECT_LONGS_EQUAL(0, traits<Z3>::Inverse(Z3(0)));
EXPECT_LONGS_EQUAL(2, traits<Z3>::Inverse(Z3(1)));
EXPECT_LONGS_EQUAL(1, traits<Z3>::Inverse(Z3(2)));
}
//******************************************************************************
TEST(Cyclic, Negation) {
EXPECT_LONGS_EQUAL(0, -G(0));
EXPECT_LONGS_EQUAL(2, -G(1));
EXPECT_LONGS_EQUAL(1, -G(2));
EXPECT_LONGS_EQUAL(0, -Z3(0));
EXPECT_LONGS_EQUAL(2, -Z3(1));
EXPECT_LONGS_EQUAL(1, -Z3(2));
}
//******************************************************************************
TEST(Cyclic, Negation2) {
typedef Cyclic<2> Z2;
EXPECT_LONGS_EQUAL(0, -Z2(0));
EXPECT_LONGS_EQUAL(1, -Z2(1));
}
//******************************************************************************
TEST(Cyclic , Invariants) {
G g(2), h(1);
Z3 g(2), h(1);
EXPECT(check_group_invariants(g,h));
}
//******************************************************************************
// The Direct sum of Cyclic<2> and Cyclic<2> is *not* Cyclic<4>, but the
// The Direct sum of Z2 and Z2 is *not* Cyclic<4>, but the
// smallest non-cyclic group called the Klein four-group:
typedef DirectSum<Cyclic<2>, Cyclic<2> > K4;
struct K4: DirectSum<K4, Z2, Z2> {
typedef DirectSum<K4, Z2, Z2> Base;
K4(const Z2& g, const Z2& h):Base(g,h) {}
K4(const Base& base):Base(base) {}
K4() {}
};
namespace gtsam {
@ -105,9 +110,8 @@ struct traits<K4> : internal::AdditiveGroupTraits<K4> {
} // namespace gtsam
TEST(Cyclic , DirectSum) {
// The Direct sum of Cyclic<2> and Cyclic<2> is *not* Cyclic<4>, but the
// The Direct sum of Z2 and Z2 is *not* Cyclic<4>, but the
// smallest non-cyclic group called the Klein four-group:
typedef DirectSum<Cyclic<2>, Cyclic<2> > K4;
BOOST_CONCEPT_ASSERT((IsGroup<K4>));
BOOST_CONCEPT_ASSERT((IsTestable<K4>));