62 lines
1.6 KiB
C++
62 lines
1.6 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Group.h
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*
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* @brief Concept check class for variable types with Group properties
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* @date Nov 5, 2011
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* @author Alex Cunningham
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*/
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#pragma once
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#include <gtsam/global_includes.h>
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namespace gtsam {
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/**
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* This concept check enforces a Group structure on a variable type,
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* in which we require the existence of basic algebraic operations.
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*/
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template<class T>
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class GroupConcept {
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private:
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static T concept_check(const T& t) {
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/** assignment */
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T t2 = t;
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/** identity */
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T identity = T::identity();
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/** compose with another object */
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T compose_ret = identity.compose(t2);
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/** invert the object and yield a new one */
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T inverse_ret = compose_ret.inverse();
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return inverse_ret;
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}
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};
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} // \namespace gtsam
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/**
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* Macros for using the GroupConcept
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* - An instantiation for use inside unit tests
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* - A typedef for use inside generic algorithms
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*
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* NOTE: intentionally not in the gtsam namespace to allow for classes not in
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* the gtsam namespace to be more easily enforced as testable
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*/
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#define GTSAM_CONCEPT_GROUP_INST(T) template class gtsam::GroupConcept<T>;
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#define GTSAM_CONCEPT_GROUP_TYPE(T) typedef gtsam::GroupConcept<T> _gtsam_GroupConcept_##T;
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