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LieVector loses its mojo (superfluous Lie/Manifold stuff)

release/4.3a0
dellaert 2014-12-22 14:46:16 +01:00
parent 74ac79d588
commit e9fa599a78
3 changed files with 41 additions and 66 deletions
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8
.cproject
View File

@ -2578,6 +2578,14 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testLieVector.run" path="build/gtsam/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j4</buildArguments>
<buildTarget>testLieVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check.tests" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>

71
gtsam/base/LieVector.h
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@ -58,10 +58,8 @@ struct LieVector : public Vector {
/** constructor with size and initial data, row order ! */
GTSAM_EXPORT LieVector(size_t m, const double* const data);
/** get the underlying vector */
Vector vector() const {
return static_cast<Vector>(*this);
}
/// @name Testable
/// @{
/** print @param name optional string naming the object */
GTSAM_EXPORT void print(const std::string& name="") const;
@ -71,72 +69,25 @@ struct LieVector : public Vector {
return gtsam::equal(vector(), expected.vector(), tol);
}
// Manifold requirements
/// @}
/// @name VectorSpace requirements
/// @{
/** get the underlying vector */
Vector vector() const {
return static_cast<Vector>(*this);
}
/** Returns dimensionality of the tangent space */
size_t dim() const { return this->size(); }
/** Update the LieVector with a tangent space update */
LieVector retract(const Vector& v) const { return LieVector(vector() + v); }
/** @return the local coordinates of another object */
Vector localCoordinates(const LieVector& t2) const { return t2 - *this; }
// Group requirements
/** identity - NOTE: no known size at compile time - so zero length */
static LieVector identity() {
throw std::runtime_error("LieVector::identity(): Don't use this function");
return LieVector();
}
// Note: Manually specifying the 'gtsam' namespace for the optional Matrix arguments
// This is a work-around for linux g++ 4.6.1 that incorrectly selects the Eigen::Matrix class
// instead of the gtsam::Matrix class. This is related to deriving this class from an Eigen Vector
// as the other geometry objects (Point3, Rot3, etc.) have this problem
/** compose with another object */
LieVector compose(const LieVector& p,
OptionalJacobian<-1,-1> H1 = boost::none,
OptionalJacobian<-1,-1> H2 = boost::none) const {
if(H1) *H1 = eye(dim());
if(H2) *H2 = eye(p.dim());
return LieVector(vector() + p);
}
/** between operation */
LieVector between(const LieVector& l2,
OptionalJacobian<-1,-1> H1 = boost::none,
OptionalJacobian<-1,-1> H2 = boost::none) const {
if(H1) *H1 = -eye(dim());
if(H2) *H2 = eye(l2.dim());
return LieVector(l2.vector() - vector());
}
/** invert the object and yield a new one */
LieVector inverse(OptionalJacobian<-1,-1> H=boost::none) const {
if(H) *H = -eye(dim());
return LieVector(-1.0 * vector());
}
// Lie functions
/** Expmap around identity */
static LieVector Expmap(const Vector& v, OptionalJacobian<-1, -1> H =
boost::none) {
if (H)
throw std::runtime_error("LieVector::Expmap derivative not implemented");
return LieVector(v);
}
/** Logmap around identity - just returns with default cast back */
static Vector Logmap(const LieVector& p, OptionalJacobian<-1, -1> H =
boost::none) {
if (H)
throw std::runtime_error("LieVector::Logmap derivative not implemented");
return p;
}
/// @}
private:

28
gtsam/base/tests/testLieVector.cpp
View File

@ -25,7 +25,21 @@ using namespace gtsam;
GTSAM_CONCEPT_TESTABLE_INST(LieVector)
GTSAM_CONCEPT_LIE_INST(LieVector)
/* ************************************************************************* */
//******************************************************************************
TEST(LieVector , Concept) {
BOOST_CONCEPT_ASSERT((IsGroup<LieVector>));
BOOST_CONCEPT_ASSERT((IsManifold<LieVector>));
BOOST_CONCEPT_ASSERT((IsLieGroup<LieVector>));
}
//******************************************************************************
TEST(LieVector , Invariants) {
Vector v = Vector3(1.0, 2.0, 3.0);
LieVector lie1(v), lie2(v);
check_manifold_invariants(lie1, lie2);
}
//******************************************************************************
TEST( testLieVector, construction ) {
Vector v = Vector3(1.0, 2.0, 3.0);
LieVector lie1(v), lie2(v);
@ -35,17 +49,19 @@ TEST( testLieVector, construction ) {
EXPECT(assert_equal(lie1, lie2));
}
/* ************************************************************************* */
//******************************************************************************
TEST( testLieVector, other_constructors ) {
Vector init = Vector2(10.0, 20.0);
LieVector exp(init);
double data[] = {10,20};
LieVector b(2,data);
double data[] = { 10, 20 };
LieVector b(2, data);
EXPECT(assert_equal(exp, b));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */