LieVector loses its mojo (superfluous Lie/Manifold stuff)

.cproject

@@ -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>

gtsam/base/LieVector.h

@@ -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 */
+  /// @name Testable
-  Vector vector() const {
+  /// @{
-    return static_cast<Vector>(*this);
-  }
 
   /** 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:
 

gtsam/base/tests/testLieVector.cpp

@@ -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};
+  double data[] = { 10, 20 };
-  LieVector b(2,data);
+  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);
+}
 /* ************************************************************************* */
 
-