group::traits, and group::compose
dellaert
parent
07ef30039a
commit
ddeb764912
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@ -23,8 +23,9 @@ namespace traits {
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* @brief Associate a unique tag with each of the main GTSAM concepts
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*/
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//@{
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template <class T>
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struct structure_category; // specializations should be derived from one of the following tags
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template<class T>
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struct structure_category;
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// specializations should be derived from one of the following tags
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//@}
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/**
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@ -32,97 +33,111 @@ struct structure_category; // specializations should be derived from one of the
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* @brief Possible values for traits::structure_category<T>::type
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*/
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//@{
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struct manifold_tag {};
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struct group_tag {};
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struct lie_group_tag : public manifold_tag, public group_tag {};
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struct vector_space_tag : public lie_group_tag {};
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struct manifold_tag {
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};
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struct group_tag {
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};
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struct lie_group_tag: public manifold_tag, public group_tag {
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};
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struct vector_space_tag: public lie_group_tag {
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};
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//@}
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} // namespace traits
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}// namespace traits
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namespace traits {
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/** @name Manifold Traits */
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//@{
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template <class Manifold> struct TangentVector;
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template <class Manifold> struct DefaultChart;
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template<class Manifold> struct TangentVector;
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template<class Manifold> struct DefaultChart;
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//@}
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} // namespace traits
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}// namespace traits
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/*
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template<class T>
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class ManifoldConcept {
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template<class T>
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class ManifoldConcept {
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public:
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typedef T Manifold;
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typedef typename traits::TangentVector<T>::type TangentVector;
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typedef typename traits::DefaultChart<T>::type DefaultChart;
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static const size_t dim = traits::dimension<T>::value;
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typedef T Manifold;
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typedef typename traits::TangentVector<T>::type TangentVector;
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typedef typename traits::DefaultChart<T>::type DefaultChart;
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static const size_t dim = traits::dimension<T>::value;
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BOOST_CONCEPT_USAGE(ManifoldConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::manifold_tag, traits::structure<Manifold> >);
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BOOST_STATIC_ASSERT(TangentVector::SizeAtCompileTime == dim);
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// no direct usage for manifold since most usage is through a chart
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}
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BOOST_CONCEPT_USAGE(ManifoldConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::manifold_tag, traits::structure<Manifold> >);
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BOOST_STATIC_ASSERT(TangentVector::SizeAtCompileTime == dim);
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// no direct usage for manifold since most usage is through a chart
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}
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private:
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Manifold p;
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TangentVector v;
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};
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Manifold p;
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TangentVector v;
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};
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template<class C>
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class ChartConcept {
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template<class C>
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class ChartConcept {
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public:
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typedef C Chart;
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typedef typename traits::Manifold<Chart>::type Manifold;
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typedef typename traits::TangentVector<Manifold>::type TangentVector;
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typedef C Chart;
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typedef typename traits::Manifold<Chart>::type Manifold;
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typedef typename traits::TangentVector<Manifold>::type TangentVector;
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BOOST_CONCEPT_USAGE(ChartConcept) {
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v = Chart::local(p,q); // returns local coordinates of q w.r.t. origin p
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q = Chart::retract(p,v); // returns retracted update of p with v
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}
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BOOST_CONCEPT_USAGE(ChartConcept) {
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v = Chart::local(p,q); // returns local coordinates of q w.r.t. origin p
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q = Chart::retract(p,v); // returns retracted update of p with v
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}
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private:
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Manifold p,q;
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TangentVector v;
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Manifold p,q;
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TangentVector v;
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};
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*/
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};
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*/
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namespace group {
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template<typename G>
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G compose(const G&g, const G& h);
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namespace traits {
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/** @name Group Traits */
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//@{
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template <class Group> struct identity;
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template <class Group> struct group_flavor;
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template<class G> struct identity;
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template<class G> struct flavor;
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//@}
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/** @name Group Flavor Tags */
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//@{
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struct additive_group_tag {};
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struct multiplicative_group_tag {};
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struct additive_tag {
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};
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struct multiplicative_tag {
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};
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//@}
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} // namespace traits
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} // \ namespace traits
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} // \ namespace group
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/**
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* Group Concept
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*/
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template<class G>
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template<typename G>
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class Group {
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public:
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typedef typename traits::identity<G>::value_type identity_value_type;
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typedef typename traits::group_flavor<G>::type group_flavor_tag;
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typedef typename traits::structure_category<G>::type structure_category_tag;
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typedef typename group::traits::identity<G>::value_type identity_value_type;
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typedef typename group::traits::flavor<G>::type group_flavor_tag;
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BOOST_CONCEPT_USAGE(Group) {
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e = traits::identity<G>::value;
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// BOOST_STATIC_ASSERT(boost::is_base_of<traits::group_tag,typename traits::structure_category<Group>::type>::value );
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using group::compose;
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BOOST_STATIC_ASSERT(
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boost::is_base_of<traits::group_tag, structure_category_tag>::value);
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e = group::traits::identity<G>::value;
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pq = compose(p, q);
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// G ip = inverse(p);
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// G pq = compose(p, q);
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// G d = between(p, q);
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// test = equal(p, q);
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// test2 = operator_usage(p, q, traits::group_flavor<Group>::type);
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// test2 = operator_usage(p, q, group::traits::_flavor<Group>::type);
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}
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bool check_invariants(const G& a, const G& b) {
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@ -134,54 +149,53 @@ public:
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}
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private:
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G p, q, e;
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G e, p, q, pq, ip, d;
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bool test, test2;
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bool operator_usage(const G& a, const G& b,
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traits::multiplicative_group_tag) {
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group::traits::multiplicative_tag) {
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return equal(compose(a, b), a * b);
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}
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bool operator_usage(const G& a, const G& b, traits::additive_group_tag) {
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bool operator_usage(const G& a, const G& b, group::traits::additive_tag) {
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return equal(compose(a, b), a + b);
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}
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};
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/*
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template <class L>
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class LieGroupConcept : public GroupConcept<L>, public ManifoldConcept<L> {
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template <class L>
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class LieGroupConcept : public GroupConcept<L>, public ManifoldConcept<L> {
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BOOST_CONCEPT_USAGE(LieGroupConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::lie_group_tag, traits::structure<L> >);
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}
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};
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BOOST_CONCEPT_USAGE(LieGroupConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::lie_group_tag, traits::structure<L> >);
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}
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};
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template <class V>
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class VectorSpaceConcept : public LieGroupConcept {
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typedef typename traits::DefaultChart<V>::type Chart;
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typedef typename GroupConcept<V>::identity identity;
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template <class V>
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class VectorSpaceConcept : public LieGroupConcept {
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typedef typename traits::DefaultChart<V>::type Chart;
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typedef typename GroupConcept<V>::identity identity;
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BOOST_CONCEPT_USAGE(VectorSpaceConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::vector_space_tag, traits::structure<L> >);
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r = p+q;
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r = -p;
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r = p-q;
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}
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BOOST_CONCEPT_USAGE(VectorSpaceConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::vector_space_tag, traits::structure<L> >);
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r = p+q;
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r = -p;
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r = p-q;
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}
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bool check_invariants(const V& a, const V& b) {
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return equal(compose(a, b), a+b)
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&& equal(inverse(a), -a)
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&& equal(between(a, b), b-a)
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&& equal(Chart::retract(a, b), a+b)
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&& equal(Chart::local(a, b), b-a);
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}
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bool check_invariants(const V& a, const V& b) {
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return equal(compose(a, b), a+b)
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&& equal(inverse(a), -a)
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&& equal(between(a, b), b-a)
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&& equal(Chart::retract(a, b), a+b)
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&& equal(Chart::local(a, b), b-a);
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}
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private:
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V p,q,r;
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};
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*/
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V p,q,r;
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};
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*/
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} // namespace gtsam
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@ -35,17 +35,28 @@ public:
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};
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namespace traits {
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/// Define Cyclic to be a model of the Group concept
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template<size_t N> struct structure_category<Cyclic<N> > {
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typedef group_tag type;
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};
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} // \namespace traits
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namespace group {
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template<size_t N>
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Cyclic<N> compose(const Cyclic<N>&g, const Cyclic<N>& h);
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namespace traits {
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/// Define the trait that specifies Cyclic's identity element
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template<size_t N> struct identity<Cyclic<N> > {
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static const Cyclic<N> value;
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typedef Cyclic<N> value_type;
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};
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template<size_t N> struct group_flavor<Cyclic<N> > {
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typedef additive_group_tag type;
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/// Define the trait that asserts Cyclic is an additive group
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template<size_t N> struct flavor<Cyclic<N> > {
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typedef additive_tag type;
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};
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} // \namespace traits
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} // \namespace group
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} // \namespace gtsam
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@ -57,10 +68,12 @@ template<size_t N> struct group_flavor<Cyclic<N> > {
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namespace gtsam {
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namespace group {
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namespace traits {
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template<size_t N>
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const Cyclic<N> identity<Cyclic<N> >::value = Cyclic<N>(0);
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} // \namespace traits
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} // \namespace group
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} // \namespace gtsam
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@ -81,7 +94,7 @@ typedef Cyclic<6> G; // Let's use the cyclic group of order 6
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//******************************************************************************
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TEST(Cyclic, Concept) {
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EXPECT_LONGS_EQUAL(0,traits::identity<G>::value);
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EXPECT_LONGS_EQUAL(0, group::traits::identity<G>::value);
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BOOST_CONCEPT_ASSERT((Group<G>));
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}
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