42 lines
857 B
C++
42 lines
857 B
C++
/*
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* LieBaseImplementations.h
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*
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* Created on: Jan 9, 2010
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* Author: richard
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*/
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#include "Lie.h"
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#define INSTANTIATE_LIE(T) \
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template T operator*(const T&, const T&); \
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template T between(const T&, const T&); \
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template Vector logmap(const T&, const T&); \
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template T expmap(const T&, const Vector&); \
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template bool equal(const T&, const T&, double); \
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template bool equal(const T&, const T&); \
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template class Lie<T>;
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namespace gtsam {
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template<class T>
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size_t Lie<T>::dim() const {
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return gtsam::dim(*((T*)this));
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}
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/**
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* Returns Exponential mapy
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*/
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template<class T>
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T Lie<T>::expmap(const Vector& v) const {
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return gtsam::expmap(*((T*)this),v);
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}
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/**
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* Returns Log map
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*/
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template<class T>
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Vector Lie<T>::logmap(const T& lp) const {
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return gtsam::logmap(*((T*)this),lp);
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}
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}
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