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stuck since LieMatrix uses dynamic matrices and hence not compatible with traits

release/4.3a0
Mike Bosse 2014-12-16 01:28:02 +01:00
parent 3dc9a7c852
commit e9ae4f3c4d
4 changed files with 11 additions and 5 deletions
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2
gtsam/base/LieScalar.h
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@ -38,7 +38,7 @@ namespace gtsam {
LieScalar() : d_(0.0) {} LieScalar() : d_(0.0) {}
/** wrap a double */ /** wrap a double */
explicit LieScalar(double d) : d_(d) {} /*explicit*/ LieScalar(double d) : d_(d) {}
/** access the underlying value */ /** access the underlying value */
double value() const { return d_; } double value() const { return d_; }

1
gtsam/base/LieVector.cpp
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@ -35,4 +35,5 @@ void LieVector::print(const std::string& name) const {
gtsam::print(vector(), name); gtsam::print(vector(), name);
} }
GTSAM_CONCEPT_LIE_INST(LieVector)
} // \namespace gtsam } // \namespace gtsam

7
gtsam/base/OptionalJacobian.h
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@ -112,8 +112,11 @@ public:
Eigen::Map<Fixed>* operator->(){ return &map_; } Eigen::Map<Fixed>* operator->(){ return &map_; }
}; };
template<> // these make sure that no dynamic sized matrices are compiled.
class OptionalJacobian<-1, -1> {}; template<int Cols>
class OptionalJacobian<-1, Cols> {};
template<int Rows>
class OptionalJacobian<Rows, -1> {};
} // namespace gtsam } // namespace gtsam

6
gtsam/base/concepts.h
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@ -67,9 +67,10 @@ namespace internal {
/// A helper that implements the traits interface for GTSAM manifolds. /// A helper that implements the traits interface for GTSAM manifolds.
/// To use this for your gtsam type, define: /// To use this for your gtsam type, define:
/// template<> struct traits<Type> : public Manifold<Type> { }; /// template<> struct traits<Type> : public Manifold<Type> { };
template<typename ManifoldType> template<typename _ManifoldType>
struct Manifold { struct Manifold {
// Typedefs required by all manifold types. // Typedefs required by all manifold types.
typedef _ManifoldType ManifoldType;
typedef manifold_tag structure_category; typedef manifold_tag structure_category;
enum { dimension = ManifoldType::dimension }; enum { dimension = ManifoldType::dimension };
typedef Eigen::Matrix<double, dimension, 1> TangentVector; typedef Eigen::Matrix<double, dimension, 1> TangentVector;
@ -117,9 +118,10 @@ struct Manifold {
/// A helper that implements the traits interface for GTSAM lie groups. /// A helper that implements the traits interface for GTSAM lie groups.
/// To use this for your gtsam type, define: /// To use this for your gtsam type, define:
/// template<> struct traits<Type> : public LieGroup<Type> { }; /// template<> struct traits<Type> : public LieGroup<Type> { };
template<typename ManifoldType,typename _group_flavor = additive_group_tag> template<typename _ManifoldType,typename _group_flavor = additive_group_tag>
struct LieGroup { struct LieGroup {
// Typedefs required by all manifold types. // Typedefs required by all manifold types.
typedef _ManifoldType ManifoldType;
typedef lie_group_tag structure_category; typedef lie_group_tag structure_category;
typedef _group_flavor group_flavor; typedef _group_flavor group_flavor;