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No more base class

release/4.3a0
dellaert 2014-09-21 16:48:24 +02:00
parent 7a64e2e546
commit d9fafc1bf1
1 changed files with 10 additions and 21 deletions
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31
gtsam_unstable/base/tests/testBAD.cpp
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@ -29,21 +29,9 @@
namespace gtsam { namespace gtsam {
/// Base class
template<class T>
class Expression {
public:
typedef Expression<T> This;
typedef boost::shared_ptr<This> shared_ptr;
virtual T value(const Values& values) const = 0;
};
/// Constant Expression /// Constant Expression
template<class T> template<class T>
class ConstantExpression: public Expression<T> { class ConstantExpression {
T value_; T value_;
@ -61,7 +49,7 @@ public:
/// Leaf Expression /// Leaf Expression
template<class T> template<class T>
class LeafExpression: public Expression<T> { class LeafExpression {
Key key_; Key key_;
@ -77,25 +65,26 @@ public:
}; };
/// Expression version of transform /// Expression version of transform
LeafExpression<Point3> transformTo(const Expression<Pose3>& x, template<class E1, class E2>
const Expression<Point3>& p) { LeafExpression<Point3> transformTo(const E1& x, const E2& p) {
return LeafExpression<Point3>(0); return LeafExpression<Point3>(0);
} }
/// Expression version of project /// Expression version of project
LeafExpression<Point2> project(const Expression<Point3>& p) { template<class E>
LeafExpression<Point2> project(const E& p) {
return LeafExpression<Point2>(0); return LeafExpression<Point2>(0);
} }
/// Expression version of uncalibrate /// Expression version of uncalibrate
LeafExpression<Point2> uncalibrate(const Expression<Cal3_S2>& K, template<class E1, class E2>
const Expression<Point2>& p) { LeafExpression<Point2> uncalibrate(const E1& K, const E2& p) {
return LeafExpression<Point2>(0); return LeafExpression<Point2>(0);
} }
/// Expression version of Point2.sub /// Expression version of Point2.sub
LeafExpression<Point2> operator -(const Expression<Point2>& p, template<class E1, class E2>
const Expression<Point2>& q) { LeafExpression<Point2> operator -(const E1& p, const E2& q) {
return LeafExpression<Point2>(0); return LeafExpression<Point2>(0);
} }