Internal API redesign

.travis.yml

@@ -188,6 +188,42 @@ matrix:
       - make
       - make test
 
+  #
+  # G++ 8
+  #
+  - os: linux
+    env:
+      - TEST="G++ 8"
+    addons:
+      apt:
+        sources:
+          - ubuntu-toolchain-r-test
+        packages:
+          - gcc-8
+          - g++-8
+    script:
+      - cmake -DCMAKE_CXX_COMPILER="g++-8" -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON ..
+      - make
+      - make test
+
+  #
+  # G++ 9
+  #
+  - os: linux
+    env:
+      - TEST="G++ 9"
+    addons:
+      apt:
+        sources:
+          - ubuntu-toolchain-r-test
+        packages:
+          - gcc-9
+          - g++-9
+    script:
+      - cmake -DCMAKE_CXX_COMPILER="g++-9" -DBUILD_EXAMPLES=ON -DBUILD_TESTING=ON ..
+      - make
+      - make test
+
   #
   # Clang 3.8
   #

examples/se2_localization.cpp

@@ -103,8 +103,6 @@
 
 #include "manif/SE2.h"
 
-#include <Eigen/Dense>
-
 #include <vector>
 
 #include <iostream>

examples/se2_sam.cpp

@@ -180,9 +180,6 @@
 // manif
 #include "manif/SE2.h"
 
-// Eigen
-#include <Eigen/Dense>
-
 // Std
 #include <vector>
 #include <map>

examples/se3_localization.cpp

@@ -103,8 +103,6 @@
 
 #include "manif/SE3.h"
 
-#include <Eigen/Dense>
-
 #include <vector>
 
 #include <iostream>

examples/se3_sam.cpp

@@ -180,9 +180,6 @@
 // manif
 #include "manif/SE3.h"
 
-// Eigen
-#include <Eigen/Dense>
-
 // Std
 #include <vector>
 #include <map>

examples/se3_sam_selfcalib.cpp

@@ -182,9 +182,6 @@
 // manif
 #include "manif/SE3.h"
 
-// Eigen
-#include <Eigen/Dense>
-
 // Std
 #include <vector>
 #include <map>

external/lt/lt/optional.hpp

@@ -391,7 +391,8 @@ struct optional_copy_base<T, false> : optional_operations_base<T> {
   using optional_operations_base<T>::optional_operations_base;
 
   optional_copy_base() = default;
-  optional_copy_base(const optional_copy_base &rhs) {
+  optional_copy_base(const optional_copy_base &rhs)
+    : optional_operations_base<T>() {
     if (rhs.has_value()) {
       this->construct(rhs.get());
     } else {

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"
 

include/manif/SE2.h

@@ -2,14 +2,32 @@
 #define _MANIF_SE2_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/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"
 

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"
 

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"
 

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"
 

include/manif/impl/assignment_assert.h

@@ -0,0 +1,24 @@
+#ifndef _MANIF_MANIF_IMPL_ASSIGNMENT_ASSERT_H_
+#define _MANIF_MANIF_IMPL_ASSIGNMENT_ASSERT_H_
+
+namespace manif {
+namespace internal {
+
+template <typename Derived>
+struct AssignmentEvaluatorImpl
+{
+  template <typename T> static void run_impl(const T&) { }
+};
+
+template <typename Derived>
+struct AssignmentEvaluator : AssignmentEvaluatorImpl<Derived>
+{
+  using Base = AssignmentEvaluatorImpl<Derived>;
+
+  template <typename T> void run(T&& t) { Base::run_impl(std::forward<T>(t)); }
+};
+
+} // namespace internal
+} // namespace manif
+
+#endif // _MANIF_MANIF_IMPL_ASSIGNMENT_ASSERT_H_

include/manif/impl/core/crtp.h

@@ -0,0 +1,28 @@
+#ifndef _MANIF_MANIF_IMPL_CRTP_H_
+#define _MANIF_MANIF_IMPL_CRTP_H_
+
+namespace manif {
+namespace internal {
+
+template <typename Derived>
+struct crtp
+{
+protected:
+  /** Return reference to this as derived object */
+  inline Derived &derived() & noexcept {
+      return *static_cast<Derived *>(this);
+  }
+  /** Return reference to this as derived object */
+  inline const Derived &derived() const & noexcept {
+      return *static_cast<Derived const *>(this);
+  }
+  /** Return reference to this as derived object, when this is rvalue */
+  inline Derived &&derived() && noexcept {
+      return std::move(*static_cast<Derived *>(this));
+  }
+};
+
+} // namespace internal
+} // namespace manif
+
+#endif // _MANIF_MANIF_IMPL_CRTP_H_

include/manif/impl/core/storage.h

@@ -0,0 +1,33 @@
+#ifndef _MANIF_MANIF_IMPL_CORE_UNARY_STORAGE_H_
+#define _MANIF_MANIF_IMPL_CORE_UNARY_STORAGE_H_
+
+namespace manif {
+namespace internal {
+
+template <typename T>
+struct storage_selector {
+    using type = T;
+};
+
+template <typename T>
+struct storage_selector<T&> {
+    using type = T&;
+};
+
+template <typename T>
+struct storage_selector<const T&> {
+    using type = const T&;
+};
+
+template <typename T>
+struct storage_selector<T&&> {
+    using type = T;
+};
+
+template <typename T>
+using storage_t = typename storage_selector<T>::type;
+
+} // namespace internal
+} // namespace manif
+
+#endif // _MANIF_MANIF_IMPL_CORE_UNARY_STORAGE_H_