Manifold.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 <string>
#include <gtsam/base/Matrix.h>

namespace gtsam {

template <class T>
class ManifoldConcept {
private:
  static T concept_check(const T& t) {

    T t2 = t;

    size_t dim_ret = t.dim();

    T retract_ret = t.retract(gtsam::zero(dim_ret));

    Vector localCoords_ret = t.localCoordinates(t2);

    return retract_ret;
  }
};

} // namespace gtsam

#define GTSAM_CONCEPT_MANIFOLD_INST(T) template class gtsam::ManifoldConcept<T>;
#define GTSAM_CONCEPT_MANIFOLD_TYPE(T) typedef gtsam::ManifoldConcept<T> _gtsam_ManifoldConcept_##T;