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Added Lie required functions (trivial) for Vector. Not in Vector.h as this becomes circular.

release/4.3a0
Frank Dellaert 2010-01-10 12:22:59 +00:00
parent 4fa53a1f79
commit ec1b57ed08
1 changed files with 11 additions and 0 deletions
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11
cpp/Lie.h
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@ -78,6 +78,17 @@ namespace gtsam {
return obj1.equal(obj2); return obj1.equal(obj2);
} }
// Vector Group operations
inline Vector compose(const Vector& p1,const Vector& p2) { return p1+p2;}
inline Vector inverse(const Vector& p) { return -p;}
inline Vector between(const Vector& p1,const Vector& p2) { return p2-p1;}
// Vector is a trivial Lie Group
template<> inline Vector expmap(const Vector& d) { return d;}
template<> inline Vector expmap(const Vector& p,const Vector& d) { return p+d;}
inline Vector logmap(const Vector& p) { return p;}
inline Vector logmap(const Vector& p1,const Vector& p2) { return p2-p1;}
} }