12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

add cpp file for LieScalar. Try to debug the "same-name-different-type" problem in matlab wrapper.

release/4.3a0
Duy-Nguyen Ta 2013-04-12 15:43:36 +00:00
parent 693a0f991a
commit ed1f5f7576
2 changed files with 29 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
gtsam/base/LieScalar.cpp Normal file
View File

@ -0,0 +1,17 @@
/*
* LieScalar.cpp
*
* Created on: Apr 12, 2013
* Author: thduynguyen
*/
#include <gtsam/base/LieScalar.h>
namespace gtsam {
void LieScalar::print(const std::string& name) const {
std::cout << name << ": " << d_ << std::endl;
}
}

26
gtsam/base/LieScalar.h
View File

@ -40,41 +40,39 @@ namespace gtsam {
operator double() const { return d_; }
/** print @param name optional string naming the object */
inline void print(const std::string& name="") const {
std::cout << name << ": " << d_ << std::endl;
}
void print(const std::string& name="") const;
/** equality up to tolerance */
inline bool equals(const LieScalar& expected, double tol=1e-5) const {
bool equals(const LieScalar& expected, double tol=1e-5) const {
return fabs(expected.d_ - d_) <= tol;
}
// Manifold requirements
/** Returns dimensionality of the tangent space */
inline size_t dim() const { return 1; }
inline static size_t Dim() { return 1; }
size_t dim() const { return 1; }
static size_t Dim() { return 1; }
/** Update the LieScalar with a tangent space update */
inline LieScalar retract(const Vector& v) const { return LieScalar(value() + v(0)); }
LieScalar retract(const Vector& v) const { return LieScalar(value() + v(0)); }
/** @return the local coordinates of another object */
inline Vector localCoordinates(const LieScalar& t2) const { return Vector_(1,(t2.value() - value())); }
Vector localCoordinates(const LieScalar& t2) const { return Vector_(1,(t2.value() - value())); }
// Group requirements
/** identity */
inline static LieScalar identity() {
static LieScalar identity() {
return LieScalar();
}
/** compose with another object */
inline LieScalar compose(const LieScalar& p) const {
LieScalar compose(const LieScalar& p) const {
return LieScalar(d_ + p.d_);
}
/** between operation */
inline LieScalar between(const LieScalar& l2,
LieScalar between(const LieScalar& l2,
boost::optional<Matrix&> H1=boost::none,
boost::optional<Matrix&> H2=boost::none) const {
if(H1) *H1 = -eye(1);
@ -83,17 +81,17 @@ namespace gtsam {
}
/** invert the object and yield a new one */
inline LieScalar inverse() const {
LieScalar inverse() const {
return LieScalar(-1.0 * value());
}
// Lie functions
/** Expmap around identity */
static inline LieScalar Expmap(const Vector& v) { return LieScalar(v(0)); }
static LieScalar Expmap(const Vector& v) { return LieScalar(v(0)); }
/** Logmap around identity - just returns with default cast back */
static inline Vector Logmap(const LieScalar& p) { return Vector_(1,p.value()); }
static Vector Logmap(const LieScalar& p) { return Vector_(1,p.value()); }
private:
double d_;