toward expression template

artivis · Aug 2, 2020 · 0dbd4ee · 0dbd4ee
1 parent 2cbda42
commit 0dbd4ee
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Showing 56 changed files with 2,895 additions and 2,937 deletions.
diff --git a/include/manif/Rn.h b/include/manif/Rn.h
@@ -2,15 +2,32 @@
 #define _MANIF_RN_H_
 
 #include "manif/impl/macro.h"
+#include "manif/constants.h"
 #include "manif/impl/utils.h"
-#include "manif/impl/lie_group_base.h"
+
+#include "manif/impl/traits.h"
+#include "manif/impl/core/crtp.h"
+
+#include "manif/impl/eigen.h"
+
+#include "manif/impl/expr/expr.h"
+#include "manif/impl/random.h"
+#include "manif/impl/generator.h"
+#include "manif/impl/assignment_assert.h"
+
+#include "lt/optional.hpp"
+
 #include "manif/impl/tangent_base.h"
+#include "manif/impl/lie_group_base.h"
 
 #include "manif/impl/rn/Rn_properties.h"
 #include "manif/impl/rn/Rn_base.h"
 #include "manif/impl/rn/RnTangent_base.h"
 #include "manif/impl/rn/Rn.h"
+#include "manif/impl/rn/Rn_expr.h"
 #include "manif/impl/rn/RnTangent.h"
+#include "manif/impl/rn/RnTangent_expr.h"
+
 #include "manif/impl/rn/Rn_map.h"
 #include "manif/impl/rn/RnTangent_map.h"
 

diff --git a/include/manif/SE2.h b/include/manif/SE2.h
@@ -2,15 +2,32 @@
 #define _MANIF_SE2_H_
 
 #include "manif/impl/macro.h"
-#include "manif/impl/lie_group_base.h"
-#include "manif/impl/tangent_base.h"
+#include "manif/constants.h"
+#include "manif/impl/utils.h"
+
+#include "manif/impl/traits.h"
+#include "manif/impl/core/crtp.h"
+
+#include "manif/impl/eigen.h"
+
+#include "manif/impl/expr/expr.h"
+#include "manif/impl/random.h"
+#include "manif/impl/generator.h"
+#include "manif/impl/assignment_assert.h"
 
+#include "lt/optional.hpp"
+
+#include "manif/impl/tangent_base.h"
+#include "manif/impl/lie_group_base.h"
 
 #include "manif/impl/se2/SE2_properties.h"
 #include "manif/impl/se2/SE2_base.h"
 #include "manif/impl/se2/SE2Tangent_base.h"
 #include "manif/impl/se2/SE2.h"
+#include "manif/impl/se2/SE2_expr.h"
 #include "manif/impl/se2/SE2Tangent.h"
+#include "manif/impl/se2/SE2Tangent_expr.h"
+
 #include "manif/impl/se2/SE2_map.h"
 #include "manif/impl/se2/SE2Tangent_map.h"
 

diff --git a/include/manif/SE3.h b/include/manif/SE3.h
@@ -1,15 +1,36 @@
 #ifndef _MANIF_SE3_H_
 #define _MANIF_SE3_H_
 
-#include "manif/impl/macro.h"
-#include "manif/impl/lie_group_base.h"
-#include "manif/impl/tangent_base.h"
+// #include "manif/impl/macro.h"
+// #include "manif/constants.h"
+// #include "manif/impl/utils.h"
+//
+// #include "manif/impl/traits.h"
+// #include "manif/impl/core/crtp.h"
+//
+// #include "manif/impl/eigen.h"
+//
+// #include "manif/impl/expr/expr.h"
+// #include "manif/impl/random.h"
+// #include "manif/impl/generator.h"
+// #include "manif/impl/assignment_assert.h"
+//
+// #include "lt/optional.hpp"
+//
+// #include "manif/impl/tangent_base.h"
+// #include "manif/impl/lie_group_base.h"
 
+#include "manif/SO3.h"
+
+#include "manif/impl/se3/SE3_utils.h"
 #include "manif/impl/se3/SE3_properties.h"
 #include "manif/impl/se3/SE3_base.h"
 #include "manif/impl/se3/SE3Tangent_base.h"
 #include "manif/impl/se3/SE3.h"
+#include "manif/impl/se3/SE3_expr.h"
 #include "manif/impl/se3/SE3Tangent.h"
+#include "manif/impl/se3/SE3Tangent_expr.h"
+
 #include "manif/impl/se3/SE3_map.h"
 #include "manif/impl/se3/SE3Tangent_map.h"
 

diff --git a/include/manif/SO2.h b/include/manif/SO2.h
@@ -2,15 +2,32 @@
 #define _MANIF_SO2_H_
 
 #include "manif/impl/macro.h"
+#include "manif/constants.h"
 #include "manif/impl/utils.h"
-#include "manif/impl/lie_group_base.h"
+
+#include "manif/impl/traits.h"
+#include "manif/impl/core/crtp.h"
+
+#include "manif/impl/eigen.h"
+
+#include "manif/impl/expr/expr.h"
+#include "manif/impl/random.h"
+#include "manif/impl/generator.h"
+#include "manif/impl/assignment_assert.h"
+
+#include "lt/optional.hpp"
+
 #include "manif/impl/tangent_base.h"
+#include "manif/impl/lie_group_base.h"
 
 #include "manif/impl/so2/SO2_properties.h"
 #include "manif/impl/so2/SO2_base.h"
 #include "manif/impl/so2/SO2Tangent_base.h"
 #include "manif/impl/so2/SO2.h"
+#include "manif/impl/so2/SO2_expr.h"
 #include "manif/impl/so2/SO2Tangent.h"
+#include "manif/impl/so2/SO2Tangent_expr.h"
+
 #include "manif/impl/so2/SO2_map.h"
 #include "manif/impl/so2/SO2Tangent_map.h"
 

diff --git a/include/manif/SO3.h b/include/manif/SO3.h
@@ -2,14 +2,32 @@
 #define _MANIF_SO3_H_
 
 #include "manif/impl/macro.h"
-#include "manif/impl/lie_group_base.h"
+#include "manif/constants.h"
+#include "manif/impl/utils.h"
+
+#include "manif/impl/traits.h"
+#include "manif/impl/core/crtp.h"
+
+#include "manif/impl/eigen.h"
+
+#include "manif/impl/expr/expr.h"
+#include "manif/impl/random.h"
+#include "manif/impl/generator.h"
+#include "manif/impl/assignment_assert.h"
+
+#include "lt/optional.hpp"
+
 #include "manif/impl/tangent_base.h"
+#include "manif/impl/lie_group_base.h"
 
 #include "manif/impl/so3/SO3_properties.h"
 #include "manif/impl/so3/SO3_base.h"
 #include "manif/impl/so3/SO3Tangent_base.h"
 #include "manif/impl/so3/SO3.h"
+#include "manif/impl/so3/SO3_expr.h"
 #include "manif/impl/so3/SO3Tangent.h"
+#include "manif/impl/so3/SO3Tangent_expr.h"
+
 #include "manif/impl/so3/SO3_map.h"
 #include "manif/impl/so3/SO3Tangent_map.h"
 

diff --git a/include/manif/impl/expr/act.h b/include/manif/impl/expr/act.h
@@ -47,6 +47,16 @@ struct ActExpr
   mutable RhsOptJacobianRef J_ret_rhs_;
 };
 
+namespace internal {
+
+template <template <typename _Derived> class _LieGroupBase,
+          typename _Derived, typename _DerivedOther>
+struct ReturnTypeHelper<ActExpr<_LieGroupBase<_Derived>, _DerivedOther>>
+{
+  using type = typename traits<_Derived>::Vector;
+};
+
+} // namespace internal
 } // namespace manif
 
 #endif // _MANIF_MANIF_IMPL_EXPR_ACT_H_
diff --git a/include/manif/impl/lie_group_base.h b/include/manif/impl/lie_group_base.h
@@ -1,20 +1,6 @@
 #ifndef _MANIF_MANIF_LIE_GROUP_BASE_H_
 #define _MANIF_MANIF_LIE_GROUP_BASE_H_
 
-#include "manif/impl/core/crtp.h"
-
-#include "manif/impl/macro.h"
-#include "manif/impl/traits.h"
-#include "manif/impl/eigen.h"
-#include "manif/impl/tangent_base.h"
-#include "manif/impl/assignment_assert.h"
-
-#include "manif/impl/expr/expr.h"
-
-#include "manif/constants.h"
-
-#include "lt/optional.hpp"
-
 namespace manif {
 
 /**
@@ -25,11 +11,6 @@ namespace manif {
 template <class _Derived>
 struct LieGroupBase : internal::crtp<_Derived>
 {
-private:
-
-  // _Derived& derived() { return *static_cast< _Derived* >(this); }
-  // const _Derived& derived() const { return *static_cast< const _Derived* >(this); }
-
 public:
 
   static constexpr int Dim     = internal::traits<_Derived>::Dim;
@@ -368,7 +349,7 @@ struct LieGroupBase : internal::crtp<_Derived>
   //! Static helper to create a random object of the Lie group.
   static LieGroup Random();
 
-protected:
+// protected:
 
   inline _Derived& derived() & noexcept { return *static_cast< _Derived* >(this); }
   inline const _Derived& derived() const & noexcept { return *static_cast< const _Derived* >(this); }