gtsam 4.2.0
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Cyclic.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/base/Group.h>
21#include <gtsam/base/Testable.h>
22
23#include <cassert>
24#include <iostream> // for cout :-(
25
26namespace gtsam {
27
29template<size_t N>
30class Cyclic {
31 size_t i_;
32public:
34 Cyclic(size_t i) :
35 i_(i) {
36 assert(i < N);
37 }
39 Cyclic():i_(0) {
40 }
41 static Cyclic Identity() { return Cyclic();}
42
44 operator size_t() const {
45 return i_;
46 }
48 Cyclic operator+(const Cyclic& h) const {
49 return (i_ + h.i_) % N;
50 }
52 Cyclic operator-(const Cyclic& h) const {
53 return (N + i_ - h.i_) % N;
54 }
56 Cyclic operator-() const {
57 return (N - i_) % N;
58 }
60 void print(const std::string& s = "") const {
61 std::cout << s << i_ << std::endl;
62 }
64 bool equals(const Cyclic& other, double tol = 1e-9) const {
65 return other.i_ == i_;
66 }
67};
68
70template<size_t N>
71struct traits<Cyclic<N> > : internal::AdditiveGroupTraits<Cyclic<N> >, //
72 Testable<Cyclic<N> > {
73};
74
75} // \namespace gtsam
76
Concept check for values that can be used in unit tests.
Concept check class for variable types with Group properties.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition concepts.h:30
A helper that implements the traits interface for GTSAM types.
Definition Testable.h:151
Cyclic group of order N.
Definition Cyclic.h:30
bool equals(const Cyclic &other, double tol=1e-9) const
equals with an tolerance, prints out message if unequal
Definition Cyclic.h:64
void print(const std::string &s="") const
print with optional string
Definition Cyclic.h:60
Cyclic()
Default constructor yields identity.
Definition Cyclic.h:39
Cyclic(size_t i)
Constructor.
Definition Cyclic.h:34
Cyclic operator-(const Cyclic &h) const
Subtraction modulo N.
Definition Cyclic.h:52
Cyclic operator+(const Cyclic &h) const
Addition modulo N.
Definition Cyclic.h:48
Cyclic operator-() const
Inverse.
Definition Cyclic.h:56