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Fixed bug in optional jacobians using g++ 4.6.1. Compiler finds the incorrect version of the Matrix class.

release/4.3a0
Stephen Williams 2012-02-06 18:47:25 +00:00
parent c2e14b9f06
commit 345580c7f8
1 changed files with 9 additions and 5 deletions
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14
gtsam/base/LieVector.h
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@ -76,10 +76,14 @@ struct LieVector : public Vector {
return LieVector(); return LieVector();
} }
// Note: Manually specifying the 'gtsam' namespace for the optional Matrix arguments
// This is a work-around for linux g++ 4.6.1 that incorrectly selects the Eigen::Matrix class
// instead of the gtsam::Matrix class. This is related to deriving this class from an Eigen Vector
// as the other geometry objects (Point3, Rot3, etc.) have this problem
/** compose with another object */ /** compose with another object */
inline LieVector compose(const LieVector& p, inline LieVector compose(const LieVector& p,
boost::optional<Matrix&> H1=boost::none, boost::optional<gtsam::Matrix&> H1=boost::none,
boost::optional<Matrix&> H2=boost::none) const { boost::optional<gtsam::Matrix&> H2=boost::none) const {
if(H1) *H1 = eye(dim()); if(H1) *H1 = eye(dim());
if(H2) *H2 = eye(p.dim()); if(H2) *H2 = eye(p.dim());
@ -88,15 +92,15 @@ struct LieVector : public Vector {
/** between operation */ /** between operation */
inline LieVector between(const LieVector& l2, inline LieVector between(const LieVector& l2,
boost::optional<Matrix&> H1=boost::none, boost::optional<gtsam::Matrix&> H1=boost::none,
boost::optional<Matrix&> H2=boost::none) const { boost::optional<gtsam::Matrix&> H2=boost::none) const {
if(H1) *H1 = -eye(dim()); if(H1) *H1 = -eye(dim());
if(H2) *H2 = eye(l2.dim()); if(H2) *H2 = eye(l2.dim());
return LieVector(l2.vector() - vector()); return LieVector(l2.vector() - vector());
} }
/** invert the object and yield a new one */ /** invert the object and yield a new one */
inline LieVector inverse(boost::optional<Matrix&> H=boost::none) const { inline LieVector inverse(boost::optional<gtsam::Matrix&> H=boost::none) const {
if(H) *H = -eye(dim()); if(H) *H = -eye(dim());
return LieVector(-1.0 * vector()); return LieVector(-1.0 * vector());