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Small refactor

release/4.3a0
dellaert 2014-12-21 13:30:21 +01:00
parent 4a5a5c3738
commit 3d3d574325
1 changed files with 9 additions and 12 deletions
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21
gtsam/geometry/Cyclic.h
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@ -30,7 +30,7 @@ public:
i_(i) { i_(i) {
assert(i<N); assert(i<N);
} }
// Idenity element /// Idenity element
static Cyclic Identity() { static Cyclic Identity() {
return Cyclic(0); return Cyclic(0);
} }
@ -54,25 +54,22 @@ public:
void print(const std::string& s = "") const { void print(const std::string& s = "") const {
std::cout << s << i_ << std::endl; std::cout << s << i_ << std::endl;
} }
/// equals with an tolerance, prints out message if unequal /// equals with an tolerance, prints out message if unequal
bool equals(const Cyclic& other, double tol = 1e-9) const { bool equals(const Cyclic& other, double tol = 1e-9) const {
return other.i_ == i_; return other.i_ == i_;
} }
}; };
#define CYCLIC_TEMPLATE size_t N
#define CYCLIC_TYPE Cyclic<N>
/// Define cyclic group traits to be a model of the Group concept /// Define cyclic group traits to be a model of the Group concept
template <CYCLIC_TEMPLATE> template<size_t N>
struct traits_x<CYCLIC_TYPE > { struct traits_x<Cyclic<N> > {
typedef group_tag structure_category; typedef group_tag structure_category;
GTSAM_ADDITIVE_GROUP(CYCLIC_TYPE); GTSAM_ADDITIVE_GROUP(Cyclic<N>)
static CYCLIC_TYPE Identity() { return CYCLIC_TYPE::Identity(); } static Cyclic<N> Identity() { return Cyclic<N>::Identity();}
static bool Equals(const CYCLIC_TYPE& a, const CYCLIC_TYPE& b, double tol=1e-9) { return a.equals(b,tol); } static bool Equals(const Cyclic<N>& a, const Cyclic<N>& b, double tol = 1e-9) {
static void Print(const CYCLIC_TYPE& c, const std::string &s="") { c.print(s); } return a.equals(b, tol);
}
static void Print(const Cyclic<N>& c, const std::string &s = "") {c.print(s);}
}; };
} // \namespace gtsam } // \namespace gtsam