(in branch) added DerivedValue base class to geometry objects

gtsam/geometry/Cal3Bundler.h

@@ -18,6 +18,7 @@
 
 #pragma once
 
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/Point2.h>
 
 namespace gtsam {
@@ -27,7 +28,7 @@ namespace gtsam {
  * @ingroup geometry
  * \nosubgrouping
  */
-class Cal3Bundler {
+class Cal3Bundler : public DerivedValue<Cal3Bundler> {
 
 private:
 	double f_, k1_, k2_ ;

gtsam/geometry/Cal3DS2.h

@@ -18,6 +18,7 @@
 
 #pragma once
 
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/Point2.h>
 
 namespace gtsam {
@@ -27,7 +28,7 @@ namespace gtsam {
  * @ingroup geometry
  * \nosubgrouping
  */
-class Cal3DS2 {
+class Cal3DS2 : public DerivedValue<Cal3DS2> {
 
 private:
 

gtsam/geometry/Cal3_S2.h

@@ -21,6 +21,7 @@
 
 #pragma once
 
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/Point2.h>
 
 namespace gtsam {
@@ -30,7 +31,7 @@ namespace gtsam {
 	 * @ingroup geometry
 	 * \nosubgrouping
 	 */
-	class Cal3_S2 {
+	class Cal3_S2 : public DerivedValue<Cal3_S2> {
 	private:
 		double fx_, fy_, s_, u0_, v0_;
 

gtsam/geometry/Cal3_S2Stereo.h

@@ -26,7 +26,7 @@ namespace gtsam {
 	 * @ingroup geometry
 	 * \nosubgrouping
 	 */
-	class Cal3_S2Stereo: public Cal3_S2 {
+	class Cal3_S2Stereo: public DerivedValue<Cal3_S2Stereo>, public Cal3_S2 {
 	private:
 		double b_;
 

gtsam/geometry/CalibratedCamera.h

@@ -18,6 +18,7 @@
 
 #pragma once
 
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/geometry/Pose3.h>
 
@@ -35,7 +36,7 @@ namespace gtsam {
 	 * @ingroup geometry
 	 * \nosubgrouping
 	 */
-	class CalibratedCamera {
+	class CalibratedCamera : public DerivedValue<CalibratedCamera> {
 	private:
 		Pose3 pose_; // 6DOF pose
 

gtsam/geometry/CalibratedCameraT.h

@@ -8,6 +8,8 @@
 #pragma once
 
 #include <boost/optional.hpp>
+
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/geometry/Pose3.h>
 
@@ -23,7 +25,7 @@ namespace gtsam {
    * \nosubgrouping
    */
   template <typename Calibration>
-  class CalibratedCameraT {
+  class CalibratedCameraT : public DerivedValue<CalibratedCameraT<Calibration> > {
   private:
     Pose3 pose_; // 6DOF pose
     Calibration k_;

gtsam/geometry/GeneralCameraT.h

@@ -18,6 +18,7 @@
 
 #pragma once
 
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/CalibratedCamera.h>
 #include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/Cal3Bundler.h>
@@ -31,7 +32,7 @@ namespace gtsam {
  * \nosubgrouping
  */
 template <typename Camera, typename Calibration>
-class GeneralCameraT {
+class GeneralCameraT : public DerivedValue<GeneralCameraT<Camera, Calibration> > {
 
 private:
 	Camera calibrated_; // Calibrated camera

gtsam/geometry/Point2.h

@@ -18,6 +18,8 @@
 #pragma once
 
 #include <boost/serialization/nvp.hpp>
+
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/Lie.h>
 
@@ -30,7 +32,7 @@ namespace gtsam {
  * @ingroup geometry
  * \nosubgrouping
  */
-class Point2 {
+class Point2 : DerivedValue<Point2> {
 public:
 	/// dimension of the variable - used to autodetect sizes
 	static const size_t dimension = 2;

gtsam/geometry/Point3.h

@@ -24,6 +24,7 @@
 #include <boost/serialization/nvp.hpp>
 
 #include <gtsam/base/Matrix.h>
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/base/Lie.h>
 
 namespace gtsam {
@@ -33,7 +34,7 @@ namespace gtsam {
    * @ingroup geometry
    * \nosubgrouping
    */
-  class Point3 {
+  class Point3 : public DerivedValue<Point3> {
   public:
 	  /// dimension of the variable - used to autodetect sizes
 	  static const size_t dimension = 3;

gtsam/geometry/Pose2.h

@@ -22,6 +22,7 @@
 
 #include <boost/optional.hpp>
 #include <gtsam/base/Matrix.h>
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/geometry/Rot2.h>
 
@@ -32,7 +33,7 @@ namespace gtsam {
  * @ingroup geometry
  * \nosubgrouping
  */
-class Pose2 {
+class Pose2 : public DerivedValue<Pose2> {
 
 public:
 	static const size_t dimension = 3;

gtsam/geometry/Pose3.h

@@ -22,6 +22,7 @@
 #define POSE3_DEFAULT_COORDINATES_MODE Pose3::FIRST_ORDER
 #endif
 
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Rot3.h>
 
@@ -34,7 +35,7 @@ namespace gtsam {
    * @ingroup geometry
    * \nosubgrouping
    */
-  class Pose3 {
+  class Pose3 : public DerivedValue<Pose3> {
   public:
     static const size_t dimension = 6;
 

gtsam/geometry/Rot2.h

@@ -19,6 +19,8 @@
 #pragma once
 
 #include <boost/optional.hpp>
+
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/Point2.h>
 
 namespace gtsam {
@@ -29,7 +31,7 @@ namespace gtsam {
 	 * @ingroup geometry
 	 * \nosubgrouping
 	 */
-	class Rot2 {
+	class Rot2 : public DerivedValue<Rot2> {
 
 	public:
 		/** get the dimension by the type */

gtsam/geometry/SimpleCamera.h

@@ -18,6 +18,7 @@
 
 #pragma once
 
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/CalibratedCamera.h>
 #include <gtsam/geometry/Cal3_S2.h>
 
@@ -29,7 +30,7 @@ namespace gtsam {
 	 * to produce measurements in pixels.
 	 * Not a sublass as a SimpleCamera *is not* a CalibratedCamera.
 	 */
-	class SimpleCamera {
+	class SimpleCamera : public DerivedValue<SimpleCamera> {
 	private:
 		CalibratedCamera calibrated_; // Calibrated camera
 		Cal3_S2 K_; // Calibration

gtsam/geometry/StereoCamera.h

@@ -18,6 +18,8 @@
 #pragma once
 
 #include <boost/tuple/tuple.hpp>
+
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/Cal3_S2Stereo.h>
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/StereoPoint2.h>

gtsam/geometry/StereoPoint2.h

@@ -18,6 +18,7 @@
 
 #pragma once
 
+#include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/Point2.h>
 
 namespace gtsam {
@@ -27,7 +28,7 @@ namespace gtsam {
 	 * @ingroup geometry
 	 * \nosubgrouping
 	 */
-	class StereoPoint2 {
+	class StereoPoint2 : public DerivedValue<StereoPoint2> {
 	public:
 		static const size_t dimension = 3;
 	private: