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Two small comments

release/4.3a0
dellaert 2014-12-21 13:54:27 +01:00
parent a34dae558a
commit f939723ca4
1 changed files with 2 additions and 3 deletions
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5
gtsam/base/concepts.h
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@ -614,21 +614,20 @@ check_group_invariants(const G& a, const G& b, double tol = 1e-9) {
&& traits_x<G>::Equals(traits_x<G>::Compose(a, traits_x<G>::Between(a, b)), b, tol); && traits_x<G>::Equals(traits_x<G>::Compose(a, traits_x<G>::Between(a, b)), b, tol);
} }
/// Macro to add group traits, additive flavor
#define GTSAM_ADDITIVE_GROUP(GROUP) \ #define GTSAM_ADDITIVE_GROUP(GROUP) \
typedef additive_group_tag group_flavor; \ typedef additive_group_tag group_flavor; \
static GROUP Compose(const GROUP &g, const GROUP & h) { return g + h;} \ static GROUP Compose(const GROUP &g, const GROUP & h) { return g + h;} \
static GROUP Between(const GROUP &g, const GROUP & h) { return h - g;} \ static GROUP Between(const GROUP &g, const GROUP & h) { return h - g;} \
static GROUP Inverse(const GROUP &g) { return -g;} static GROUP Inverse(const GROUP &g) { return -g;}
/// Macro to add group traits, multiplicative flavor
#define GTSAM_MULTIPLICATIVE_GROUP(GROUP) \ #define GTSAM_MULTIPLICATIVE_GROUP(GROUP) \
typedef additive_group_tag group_flavor; \ typedef additive_group_tag group_flavor; \
static GROUP Compose(const GROUP &g, const GROUP & h) { return g * h;} \ static GROUP Compose(const GROUP &g, const GROUP & h) { return g * h;} \
static GROUP Between(const GROUP &g, const GROUP & h) { return g.inverse() * h;} \ static GROUP Between(const GROUP &g, const GROUP & h) { return g.inverse() * h;} \
static GROUP Inverse(const GROUP &g) { return g.inverse();} static GROUP Inverse(const GROUP &g) { return g.inverse();}
/** /**
* Lie Group Concept * Lie Group Concept
*/ */