Group.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/global_includes.h>

namespace gtsam {

template<class T>
class GroupConcept {
private:
  static T concept_check(const T& t) {
    T t2 = t;

    T identity = T::identity();

    T compose_ret = identity.compose(t2);

    T inverse_ret = compose_ret.inverse();

    return inverse_ret;
  }
};

} // \namespace gtsam

#define GTSAM_CONCEPT_GROUP_INST(T) template class gtsam::GroupConcept<T>;
#define GTSAM_CONCEPT_GROUP_TYPE(T) typedef gtsam::GroupConcept<T> _gtsam_GroupConcept_##T;