From 128cc741acc7805a645d30766f509e7aa6587ba8 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Mon, 22 Dec 2014 14:55:14 +0100
Subject: [PATCH] LieScalar loses its mojo (superfluous Lie/Manifold stuff)

---
 .cproject                          |  8 ++++
 gtsam/base/LieScalar.h             | 63 ++----------------------------
 gtsam/base/tests/testLieScalar.cpp | 19 ++++++++-
 3 files changed, 29 insertions(+), 61 deletions(-)

diff --git a/.cproject b/.cproject
index be5c4a324..8afdf5942 100644
--- a/.cproject
+++ b/.cproject
@@ -2586,6 +2586,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testLieScalar.run" path="build/gtsam/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j4</buildArguments>
+				<buildTarget>testLieScalar.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="check.tests" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
diff --git a/gtsam/base/LieScalar.h b/gtsam/base/LieScalar.h
index 7ecd2d50e..631b88553 100644
--- a/gtsam/base/LieScalar.h
+++ b/gtsam/base/LieScalar.h
@@ -49,6 +49,9 @@ namespace gtsam {
     /** Automatic conversion to underlying value */
     operator double() const { return d_; }
 
+    /// @name Testable
+    /// @{
+
     /** print @param name optional string naming the object */
     void print(const std::string& name="") const;
 
@@ -57,65 +60,7 @@ namespace gtsam {
       return fabs(expected.d_ - d_) <= tol;
     }
 
-    // Manifold requirements
-
-    /** Returns dimensionality of the tangent space */
-    size_t dim() const { return 1; }
-    static size_t Dim() { return 1; }
-
-    /** Update the LieScalar with a tangent space update */
-    LieScalar retract(const Vector& v) const { return LieScalar(value() + v(0)); }
-
-    /** @return the local coordinates of another object */
-    Vector localCoordinates(const LieScalar& t2) const { return (Vector(1) << (t2.value() - value())).finished(); }
-
-    // Group requirements
-
-    /** identity */
-    static LieScalar identity() {
-      return LieScalar();
-    }
-
-    /** compose with another object */
-    LieScalar compose(const LieScalar& p,
-        boost::optional<Matrix&> H1=boost::none,
-        boost::optional<Matrix&> H2=boost::none) const {
-      if(H1) *H1 = eye(1);
-      if(H2) *H2 = eye(1);
-      return LieScalar(d_ + p.d_);
-    }
-
-    /** between operation */
-    LieScalar between(const LieScalar& l2,
-        boost::optional<Matrix&> H1=boost::none,
-        boost::optional<Matrix&> H2=boost::none) const {
-      if(H1) *H1 = -eye(1);
-      if(H2) *H2 = eye(1);
-      return LieScalar(l2.value() - value());
-    }
-
-    /** invert the object and yield a new one */
-    LieScalar inverse() const {
-      return LieScalar(-1.0 * value());
-    }
-
-    // Lie functions
-
-    /** Expmap around identity */
-    static LieScalar Expmap(const Vector& v) { return LieScalar(v(0)); }
-
-    /** Logmap around identity - just returns with default cast back */
-    static Vector Logmap(const LieScalar& p) { return (Vector(1) << p.value()).finished(); }
-
-    /// Left-trivialized derivative of the exponential map
-    static Matrix dexpL(const Vector& v) {
-      return eye(1);
-    }
-
-    /// Left-trivialized derivative inverse of the exponential map
-    static Matrix dexpInvL(const Vector& v) {
-      return eye(1);
-    }
+    /// @}
 
   private:
       double d_;
diff --git a/gtsam/base/tests/testLieScalar.cpp b/gtsam/base/tests/testLieScalar.cpp
index 946a342fc..9055298e5 100644
--- a/gtsam/base/tests/testLieScalar.cpp
+++ b/gtsam/base/tests/testLieScalar.cpp
@@ -27,6 +27,20 @@ GTSAM_CONCEPT_LIE_INST(LieScalar)
 
 const double tol=1e-9;
 
+//******************************************************************************
+TEST(LieScalar , Concept) {
+  BOOST_CONCEPT_ASSERT((IsGroup<LieScalar>));
+  BOOST_CONCEPT_ASSERT((IsManifold<LieScalar>));
+  BOOST_CONCEPT_ASSERT((IsLieGroup<LieScalar>));
+}
+
+//******************************************************************************
+TEST(LieScalar , Invariants) {
+  LieScalar lie1(2), lie2(3);
+  check_group_invariants(lie1, lie2);
+  check_manifold_invariants(lie1, lie2);
+}
+
 /* ************************************************************************* */
 TEST( testLieScalar, construction ) {
   double d = 2.;
@@ -34,7 +48,7 @@ TEST( testLieScalar, construction ) {
 
   EXPECT_DOUBLES_EQUAL(2., lie1.value(),tol);
   EXPECT_DOUBLES_EQUAL(2., lie2.value(),tol);
-  EXPECT(lie1.dim() == 1);
+  EXPECT(traits_x<LieScalar>::dimension == 1);
   EXPECT(assert_equal(lie1, lie2));
 }
 
@@ -42,7 +56,8 @@ TEST( testLieScalar, construction ) {
 TEST( testLieScalar, localCoordinates ) {
   LieScalar lie1(1.), lie2(3.);
 
-  EXPECT(assert_equal((Vector)(Vector(1) << 2).finished(), lie1.localCoordinates(lie2)));
+  Vector1 actual = traits_x<LieScalar>::Local(lie1, lie2);
+  EXPECT( assert_equal((Vector)(Vector(1) << 2).finished(), actual));
 }
 
 /* ************************************************************************* */