AsVectorSpace.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/base/VectorSpace.h>
 
namespace gtsam {

template <class Class>
class AsVectorSpace : public Class {
 public:
  using TangentVector = typename traits<Class>::TangentVector;
  inline constexpr static int dimension = traits<Class>::dimension;

  AsVectorSpace() : Class(Class()) {}

  explicit AsVectorSpace(const Class& value) : Class(value) {}

  explicit AsVectorSpace(const TangentVector& tangent)
      : Class(traits<Class>::Retract(Class(), tangent)) {}

  static AsVectorSpace Identity() { return AsVectorSpace(); }

  AsVectorSpace operator+(const AsVectorSpace& other) const {
    const TangentVector tangent =
        traits<Class>::Local(Class(), static_cast<const Class&>(other));
    return AsVectorSpace(
        traits<Class>::Retract(static_cast<const Class&>(*this), tangent));
  }

  AsVectorSpace operator-(const AsVectorSpace& other) const {
    const TangentVector tangent =
        traits<Class>::Local(Class(), static_cast<const Class&>(other));
    return AsVectorSpace(
        traits<Class>::Retract(static_cast<const Class&>(*this), -tangent));
  }

  AsVectorSpace operator-() const {
    const TangentVector tangent =
        traits<Class>::Local(Class(), static_cast<const Class&>(*this));
    return AsVectorSpace(traits<Class>::Retract(Class(), -tangent));
  }

  AsVectorSpace operator+(const TangentVector& tangent) const {
    return AsVectorSpace(
        traits<Class>::Retract(static_cast<const Class&>(*this), tangent));
  }

  AsVectorSpace operator-(const TangentVector& tangent) const {
    return AsVectorSpace(
        traits<Class>::Retract(static_cast<const Class&>(*this), -tangent));
  }

  TangentVector vector() const {
    return traits<Class>::Local(Class(), static_cast<const Class&>(*this));
  }
};

template <class Class>
struct traits<AsVectorSpace<Class>>
    : internal::VectorSpaceTraits<AsVectorSpace<Class>>,
      Testable<AsVectorSpace<Class>> {};

template <class Class>
struct traits<const AsVectorSpace<Class>> : traits<AsVectorSpace<Class>> {};
 
}  // namespace gtsam