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Fix error when wrapping a library using Rot3 to matlab: "type stored... is N5gtsam4Rot3E but requested type was N5gtsam4Rot3E", because gtsam is linked 2 times: one with the library, one with the mex, and somehow Rot3 is not virtual and exists in both. Moving print implementation to cpp seems to fix this problem.

release/4.3a0
Duy-Nguyen Ta 2013-08-08 08:51:52 +00:00
parent 8cf7b6723f
commit 6959ad5e6f
2 changed files with 6 additions and 1 deletions
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2
gtsam/geometry/Rot3.h
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@ -181,7 +181,7 @@ namespace gtsam {
/// @{ /// @{
/** print */ /** print */
void print(const std::string& s="R") const { gtsam::print((Matrix)matrix(), s);} void print(const std::string& s="R") const;
/** equals with an tolerance */ /** equals with an tolerance */
bool equals(const Rot3& p, double tol = 1e-9) const; bool equals(const Rot3& p, double tol = 1e-9) const;

5
gtsam/geometry/Rot3M.cpp
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@ -69,6 +69,11 @@ Rot3::Rot3(const Matrix& R) {
/* ************************************************************************* */ /* ************************************************************************* */
Rot3::Rot3(const Quaternion& q) : rot_(q.toRotationMatrix()) {} Rot3::Rot3(const Quaternion& q) : rot_(q.toRotationMatrix()) {}
/* ************************************************************************* */
void Rot3::print(const std::string& s) const {
gtsam::print((Matrix)matrix(), s);
}
/* ************************************************************************* */ /* ************************************************************************* */
Rot3 Rot3::Rx(double t) { Rot3 Rot3::Rx(double t) {
double st = sin(t), ct = cos(t); double st = sin(t), ct = cos(t);