Moving away from fixed-size matrices

gtsam/base/GenericValue.h

@@ -107,6 +107,8 @@ protected:
   T value_; ///< The wrapped value
 
 public:
+  // Only needed for serialization.
+  GenericValue(){}
 
   /// Construct from value
   GenericValue(const T& value) :
@@ -244,7 +246,7 @@ public:
     template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int version) {
       ar & boost::serialization::make_nvp("GenericValue",
-              boost::serialization::base_object<GenericValue<T> >(*this));
+              boost::serialization::base_object<Value>(*this));
       ar & boost::serialization::make_nvp("value", value_);
     }
 

gtsam/base/concepts.h

@@ -363,11 +363,14 @@ struct traits_x<float> : public internal::ScalarTraits<float> {};
 // traits for any double Eigen matrix
 template<int M, int N, int Options, int MaxRows, int MaxCols>
 struct traits_x< Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> > {
-  BOOST_STATIC_ASSERT_MSG(M != Eigen::Dynamic && N != Eigen::Dynamic,
-      "This traits class only supports fixed-size matrices.");
+  BOOST_STATIC_ASSERT_MSG(
+      M != Eigen::Dynamic && N != Eigen::Dynamic,
+      "These traits are only valid on fixed-size types.");
+
   // Typedefs required by all manifold types.
   typedef vector_space_tag structure_category;
-  enum { dimension = M * N };
+  enum { dimension = (M == Eigen::Dynamic ? Eigen::Dynamic :
+              (N == Eigen::Dynamic ? Eigen::Dynamic : M * N)) };
   typedef Eigen::Matrix<double, dimension, 1> TangentVector;
   typedef OptionalJacobian<dimension, dimension> ChartJacobian;
   typedef Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> ManifoldType;
@@ -462,7 +465,7 @@ struct traits_x< Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> > {
 template<typename ManifoldType>
 struct Canonical {
   BOOST_STATIC_ASSERT_MSG(
-      (boost::is_base_of<manifold_tag, typename traits_x<ManifoldType>::structure_category>::value),
+      (boost::is_base_of<group_tag, typename traits_x<ManifoldType>::structure_category>::value),
       "This type's trait does not assert it is a manifold (or derived)");
   typedef traits_x<ManifoldType> Traits;
   typedef typename Traits::TangentVector TangentVector;

gtsam/geometry/PinholeCamera.h

@@ -488,6 +488,6 @@ private:
 
 
 template<typename Calibration>
-struct traits_x< PinholeCamera<Calibration> > : public internal::Manifold<PinholeCamera<Calibration> > {};
+struct traits_x< PinholeCamera<Calibration> > : public internal::LieGroup<PinholeCamera<Calibration> > {};
 
 } // \ gtsam

gtsam/nonlinear/AdaptAutoDiff.h

@@ -43,10 +43,6 @@ class AdaptAutoDiff {
   typedef typename Canonical1::TangentVector Vector1;
   typedef typename Canonical2::TangentVector Vector2;
 
-  // Instantiate function and charts
-  CanonicalT chartT;
-  Canonical1 chart1;
-  Canonical2 chart2;
   F f;
 
 public:
@@ -57,8 +53,8 @@ public:
     using ceres::internal::AutoDiff;
 
     // Make arguments
-    Vector1 v1 = chart1.local(a1);
-    Vector2 v2 = chart2.local(a2);
+    Vector1 v1 = Canonical1::Local(a1);
+    Vector2 v2 = Canonical2::Local(a2);
 
     bool success;
     VectorT result;
@@ -84,7 +80,7 @@ public:
     if (!success)
       throw std::runtime_error(
           "AdaptAutoDiff: function call resulted in failure");
-    return chartT.retract(result);
+    return CanonicalT::Retract(result);
   }
 
 };

gtsam/nonlinear/tests/testSerializationNonlinear.cpp

@@ -46,23 +46,12 @@ template<class T> struct pack {
  typedef T type;
 };
 }
-#define CHART_VALUE_EXPORT(UNIQUE_NAME, TYPE) \
-  typedef gtsam::ChartValue<TYPE,gtsam::DefaultChart<TYPE> > UNIQUE_NAME; \
-  BOOST_CLASS_EXPORT( UNIQUE_NAME );
-
 
 /* ************************************************************************* */
 typedef PinholeCamera<Cal3_S2>        PinholeCal3S2;
 typedef PinholeCamera<Cal3DS2>        PinholeCal3DS2;
 typedef PinholeCamera<Cal3Bundler>    PinholeCal3Bundler;
 
-CHART_VALUE_EXPORT(gtsamPoint3Chart, gtsam::Point3);
-CHART_VALUE_EXPORT(Cal3S2Chart, PinholeCal3S2);
-CHART_VALUE_EXPORT(Cal3DS2Chart, PinholeCal3DS2);
-CHART_VALUE_EXPORT(Cal3BundlerChart, PinholeCal3Bundler);
-
-
-
 /* ************************************************************************* */
 static Point3 pt3(1.0, 2.0, 3.0);
 static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0);

gtsam/nonlinear/tests/testValues.cpp

@@ -62,15 +62,6 @@ public:
   Vector localCoordinates(const TestValue&) const { return Vector(); }
 };
 
-namespace gtsam {
-namespace traits {
-template <>
-struct is_manifold<TestValue> : public boost::true_type {};
-template <>
-struct dimension<TestValue> : public boost::integral_constant<int, 0> {};
-}
-}
-
 /* ************************************************************************* */
 TEST( Values, equals1 )
 {
@@ -170,9 +161,9 @@ TEST(Values, basic_functions)
   Values values;
   const Values& values_c = values;
   values.insert(2, Vector3());
-  values.insert(4, Vector(3));
+  values.insert(4, Vector3());
   values.insert(6, Matrix23());
-  values.insert(8, Matrix(2,3));
+  values.insert(8, Matrix23());
 
   // find
   EXPECT_LONGS_EQUAL(4, values.find(4)->key);