117 lines
3.1 KiB
C++
117 lines
3.1 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 LieVector.h
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* @brief A wrapper around vector providing Lie compatibility
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* @author Alex Cunningham
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*/
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#pragma once
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#include <gtsam/base/VectorSpace.h>
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namespace gtsam {
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/**
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* @deprecated: LieVector, LieVector and LieMatrix are obsolete in GTSAM 4.0 as
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* we can directly add double, Vector, and Matrix into values now, because of
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* gtsam::traits.
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*/
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struct LieVector : public Vector {
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enum { dimension = Eigen::Dynamic };
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/** default constructor - should be unnecessary */
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LieVector() {}
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/** initialize from a normal vector */
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LieVector(const Vector& v) : Vector(v) {}
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template <class V>
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LieVector(const V& v) : Vector(v) {}
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// Currently TMP constructor causes ICE on MSVS 2013
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#if (_MSC_VER < 1800)
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/** initialize from a fixed size normal vector */
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template<int N>
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LieVector(const Eigen::Matrix<double, N, 1>& v) : Vector(v) {}
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#endif
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/** wrap a double */
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LieVector(double d) : Vector((Vector(1) << d).finished()) {}
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/** constructor with size and initial data, row order ! */
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GTSAM_EXPORT LieVector(size_t m, const double* const data);
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/// @name Testable
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/// @{
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GTSAM_EXPORT void print(const std::string& name="") const;
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bool equals(const LieVector& expected, double tol=1e-5) const {
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return gtsam::equal(vector(), expected.vector(), tol);
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}
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/// @}
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/// @name Group
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/// @{
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LieVector compose(const LieVector& q) { return (*this)+q;}
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LieVector between(const LieVector& q) { return q-(*this);}
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LieVector inverse() { return -(*this);}
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/// @}
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/// @name Manifold
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/// @{
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Vector localCoordinates(const LieVector& q) { return between(q).vector();}
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LieVector retract(const Vector& v) {return compose(LieVector(v));}
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/// @}
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/// @name Lie Group
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/// @{
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static Vector Logmap(const LieVector& p) {return p.vector();}
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static LieVector Expmap(const Vector& v) { return LieVector(v);}
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/// @}
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/// @name VectorSpace requirements
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/// @{
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/** get the underlying vector */
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Vector vector() const {
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return static_cast<Vector>(*this);
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}
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/** Returns dimensionality of the tangent space */
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size_t dim() const { return this->size(); }
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/** identity - NOTE: no known size at compile time - so zero length */
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static LieVector identity() {
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throw std::runtime_error("LieVector::identity(): Don't use this function");
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return LieVector();
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}
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/// @}
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private:
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// Serialization function
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int /*version*/) {
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ar & boost::serialization::make_nvp("Vector",
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boost::serialization::base_object<Vector>(*this));
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}
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};
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template<>
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struct traits<LieVector> : public internal::VectorSpace<LieVector> {};
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} // \namespace gtsam
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