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51 "This type's structure_category trait does not assert it as a group (or derived)");
79 check_group_invariants(const
G&
a, const
G&
b,
double tol = 1
e-9) {
91 struct MultiplicativeGroupTraits {
92 typedef group_tag structure_category;
93 typedef multiplicative_group_tag group_flavor;
101 template<
class Class>
102 struct MultiplicativeGroup : MultiplicativeGroupTraits<Class>, Testable<Class> {};
106 template<
class Class>
107 struct AdditiveGroupTraits {
108 typedef group_tag structure_category;
109 typedef additive_group_tag group_flavor;
117 template<
class Class>
118 struct AdditiveGroup : AdditiveGroupTraits<Class>, Testable<Class> {};
125 compose_pow(
const G&
g,
size_t n) {
126 if (
n == 0)
return traits<G>::Identity();
127 else if (
n == 1)
return g;
128 else return traits<G>::Compose(compose_pow(
g,
n - 1),
g);
133 template<
typename G,
typename H>
158 template<
typename G,
typename H>
160 internal::MultiplicativeGroupTraits<DirectProduct<G, H> > {};
164 template<
typename G,
typename H>
169 const G&
g()
const {
return this->first; }
170 const H&
h()
const {
return this->second;}
194 template<
typename G,
typename H>
196 internal::AdditiveGroupTraits<DirectSum<G, H> > {};
208 #define GTSAM_CONCEPT_GROUP_INST(T) template class gtsam::IsGroup<T>;
209 #define GTSAM_CONCEPT_GROUP_TYPE(T) typedef gtsam::IsGroup<T> _gtsam_IsGroup_##T;
DirectSum operator+(const DirectSum &other) const
DirectSum()
Default constructor yields identity.
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traits< G >::structure_category structure_category_tag
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Concept check for values that can be used in unit tests.
DirectProduct(const G &g, const H &h)
DirectSum operator-() const
DirectSum(const G &g, const H &h)
DirectProduct()
Default constructor yields identity.
Group operator syntax flavors.
static DirectSum Identity()
traits< G >::group_flavor flavor_tag
DirectProduct operator*(const DirectProduct &other) const
DirectProduct inverse() const
DirectSum operator-(const DirectSum &other) const
GTSAM_CONCEPT_ASSERT(IsGroup< G >)
static DirectProduct Identity()
void operator_usage(multiplicative_group_tag)
void g(const string &key, int i)
BetweenFactor< Rot3 > Between
void operator_usage(additive_group_tag)
GTSAM_CONCEPT_ASSERT(IsGroup< G >)
tag to assert a type is a group
JacobiRotation< float > G
GTSAM_CONCEPT_REQUIRES(IsGroup< G >, bool) check_group_invariants(const G &a
Check invariants.
BOOST_CONCEPT_USAGE(IsGroup)
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:40