gtsam  4.1.0
gtsam
lieProxies.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
18 #pragma once
19 
20 #include <gtsam/global_includes.h>
21 
31 namespace gtsam {
32 namespace testing {
33 
35  template<class T>
36  T between(const T& t1, const T& t2) { return t1.between(t2); }
37 
38  template<class T>
39  T compose(const T& t1, const T& t2) { return t1.compose(t2); }
40 
42  template<class T>
43  T inverse(const T& t) { return t.inverse(); }
44 
46  template<class T, class P>
47  P rotate(const T& r, const P& pt) { return r.rotate(pt); }
48 
49  template<class T, class P>
50  P unrotate(const T& r, const P& pt) { return r.unrotate(pt); }
51 
52 } // \namespace testing
53 } // \namespace gtsam
54 
55 
gtsam::testing::rotate
P rotate(const T &r, const P &pt)
rotation functions
Definition: lieProxies.h:47
gtsam
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
global_includes.h
Included from all GTSAM files.
gtsam::testing::inverse
T inverse(const T &t)
unary functions
Definition: lieProxies.h:43
gtsam::testing::between
T between(const T &t1, const T &t2)
binary functions
Definition: lieProxies.h:36