Add nullptr manifold overrides to all variables

locusrobotics · Mar 28, 2024 · 276c1d8 · 276c1d8
1 parent 6511417
commit 276c1d8
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Showing 18 changed files with 188 additions and 10 deletions.
diff --git a/fuse_variables/include/fuse_variables/acceleration_angular_2d_stamped.h b/fuse_variables/include/fuse_variables/acceleration_angular_2d_stamped.h
@@ -34,8 +34,10 @@
 #ifndef FUSE_VARIABLES_ACCELERATION_ANGULAR_2D_STAMPED_H
 #define FUSE_VARIABLES_ACCELERATION_ANGULAR_2D_STAMPED_H
 
-#include <fuse_core/uuid.h>
+#include <fuse_core/ceres_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
+#include <fuse_core/uuid.h>
 #include <fuse_core/variable.h>
 #include <fuse_variables/fixed_size_variable.h>
 #include <fuse_variables/stamped.h>
@@ -102,6 +104,15 @@ class AccelerationAngular2DStamped : public FixedSizeVariable<1>, public Stamped
    */
   void print(std::ostream& stream = std::cout) const override;
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 private:
   // Allow Boost Serialization access to private methods
   friend class boost::serialization::access;

diff --git a/fuse_variables/include/fuse_variables/acceleration_angular_3d_stamped.h b/fuse_variables/include/fuse_variables/acceleration_angular_3d_stamped.h
@@ -34,8 +34,10 @@
 #ifndef FUSE_VARIABLES_ACCELERATION_ANGULAR_3D_STAMPED_H
 #define FUSE_VARIABLES_ACCELERATION_ANGULAR_3D_STAMPED_H
 
-#include <fuse_core/uuid.h>
+#include <fuse_core/ceres_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
+#include <fuse_core/uuid.h>
 #include <fuse_core/variable.h>
 #include <fuse_variables/fixed_size_variable.h>
 #include <fuse_variables/stamped.h>
@@ -125,6 +127,15 @@ class AccelerationAngular3DStamped : public FixedSizeVariable<3>, public Stamped
    */
   void print(std::ostream& stream = std::cout) const override;
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 private:
   // Allow Boost Serialization access to private methods
   friend class boost::serialization::access;

diff --git a/fuse_variables/include/fuse_variables/acceleration_linear_2d_stamped.h b/fuse_variables/include/fuse_variables/acceleration_linear_2d_stamped.h
@@ -34,8 +34,10 @@
 #ifndef FUSE_VARIABLES_ACCELERATION_LINEAR_2D_STAMPED_H
 #define FUSE_VARIABLES_ACCELERATION_LINEAR_2D_STAMPED_H
 
-#include <fuse_core/uuid.h>
+#include <fuse_core/ceres_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
+#include <fuse_core/uuid.h>
 #include <fuse_core/variable.h>
 #include <fuse_variables/fixed_size_variable.h>
 #include <fuse_variables/stamped.h>
@@ -113,6 +115,15 @@ class AccelerationLinear2DStamped : public FixedSizeVariable<2>, public Stamped
    */
   void print(std::ostream& stream = std::cout) const override;
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 private:
   // Allow Boost Serialization access to private methods
   friend class boost::serialization::access;

diff --git a/fuse_variables/include/fuse_variables/acceleration_linear_3d_stamped.h b/fuse_variables/include/fuse_variables/acceleration_linear_3d_stamped.h
@@ -34,8 +34,10 @@
 #ifndef FUSE_VARIABLES_ACCELERATION_LINEAR_3D_STAMPED_H
 #define FUSE_VARIABLES_ACCELERATION_LINEAR_3D_STAMPED_H
 
-#include <fuse_core/uuid.h>
+#include <fuse_core/ceres_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
+#include <fuse_core/uuid.h>
 #include <fuse_core/variable.h>
 #include <fuse_variables/fixed_size_variable.h>
 #include <fuse_variables/stamped.h>
@@ -125,6 +127,15 @@ class AccelerationLinear3DStamped : public FixedSizeVariable<3>,  public Stamped
    */
   void print(std::ostream& stream = std::cout) const override;
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 private:
   // Allow Boost Serialization access to private methods
   friend class boost::serialization::access;

diff --git a/fuse_variables/include/fuse_variables/orientation_2d_stamped.h b/fuse_variables/include/fuse_variables/orientation_2d_stamped.h
@@ -34,6 +34,7 @@
 #ifndef FUSE_VARIABLES_ORIENTATION_2D_STAMPED_H
 #define FUSE_VARIABLES_ORIENTATION_2D_STAMPED_H
 
+#include <fuse_core/ceres_macros.h>
 #include <fuse_core/fuse_macros.h>
 #include <fuse_core/local_parameterization.h>
 #include <fuse_core/manifold.h>

diff --git a/fuse_variables/include/fuse_variables/orientation_3d_stamped.h b/fuse_variables/include/fuse_variables/orientation_3d_stamped.h
@@ -34,6 +34,7 @@
 #ifndef FUSE_VARIABLES_ORIENTATION_3D_STAMPED_H
 #define FUSE_VARIABLES_ORIENTATION_3D_STAMPED_H
 
+#include <fuse_core/ceres_macros.h>
 #include <fuse_core/fuse_macros.h>
 #include <fuse_core/local_parameterization.h>
 #include <fuse_core/manifold.h>

diff --git a/fuse_variables/include/fuse_variables/pinhole_camera.h b/fuse_variables/include/fuse_variables/pinhole_camera.h
@@ -37,7 +37,9 @@
 #ifndef FUSE_VARIABLES_PINHOLE_CAMERA_H
 #define FUSE_VARIABLES_PINHOLE_CAMERA_H
 
+#include <fuse_core/ceres_macros.h>
 #include <fuse_core/fuse_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
 #include <fuse_core/uuid.h>
 #include <fuse_variables/fixed_size_variable.h>
@@ -147,6 +149,15 @@ class PinholeCamera : public FixedSizeVariable<4>
    */
   void print(std::ostream& stream = std::cout) const override;
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 protected:
   /**
    * @brief Construct a point 3D variable given a landmarks id

diff --git a/fuse_variables/include/fuse_variables/pinhole_camera_fixed.h b/fuse_variables/include/fuse_variables/pinhole_camera_fixed.h
@@ -37,7 +37,9 @@
 #ifndef FUSE_VARIABLES_PINHOLE_CAMERA_FIXED_H
 #define FUSE_VARIABLES_PINHOLE_CAMERA_FIXED_H
 
+#include <fuse_core/ceres_macros.h>
 #include <fuse_core/fuse_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
 #include <fuse_variables/pinhole_camera.h>
 
@@ -81,6 +83,15 @@ class PinholeCameraFixed : public PinholeCamera
    */
   bool holdConstant() const override { return true; }
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 private:
   // Allow Boost Serialization access to private methods
   friend class boost::serialization::access;

diff --git a/fuse_variables/include/fuse_variables/point_2d_fixed_landmark.h b/fuse_variables/include/fuse_variables/point_2d_fixed_landmark.h
@@ -34,7 +34,9 @@
 #ifndef FUSE_VARIABLES_POINT_2D_FIXED_LANDMARK_H
 #define FUSE_VARIABLES_POINT_2D_FIXED_LANDMARK_H
 
+#include <fuse_core/ceres_macros.h>
 #include <fuse_core/fuse_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
 #include <fuse_variables/point_2d_landmark.h>
 
@@ -74,6 +76,15 @@ class Point2DFixedLandmark : public Point2DLandmark
    */
   bool holdConstant() const override { return true; }
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 private:
   // Allow Boost Serialization access to private methods
   friend class boost::serialization::access;

diff --git a/fuse_variables/include/fuse_variables/point_2d_landmark.h b/fuse_variables/include/fuse_variables/point_2d_landmark.h
@@ -34,7 +34,9 @@
 #ifndef FUSE_VARIABLES_POINT_2D_LANDMARK_H
 #define FUSE_VARIABLES_POINT_2D_LANDMARK_H
 
+#include <fuse_core/ceres_macros.h>
 #include <fuse_core/fuse_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
 #include <fuse_core/uuid.h>
 #include <fuse_variables/fixed_size_variable.h>
@@ -113,6 +115,15 @@ class Point2DLandmark : public FixedSizeVariable<2>
    */
   void print(std::ostream& stream = std::cout) const override;
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 protected:
   /**
    * @brief Construct a point 2D variable given a UUID and a landmarks id

diff --git a/fuse_variables/include/fuse_variables/point_3d_fixed_landmark.h b/fuse_variables/include/fuse_variables/point_3d_fixed_landmark.h
@@ -34,7 +34,9 @@
 #ifndef FUSE_VARIABLES_POINT_3D_FIXED_LANDMARK_H
 #define FUSE_VARIABLES_POINT_3D_FIXED_LANDMARK_H
 
+#include <fuse_core/ceres_macros.h>
 #include <fuse_core/fuse_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
 #include <fuse_variables/point_3d_landmark.h>
 
@@ -74,6 +76,15 @@ class Point3DFixedLandmark : public Point3DLandmark
    */
   bool holdConstant() const override { return true; }
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 private:
   // Allow Boost Serialization access to private methods
   friend class boost::serialization::access;

diff --git a/fuse_variables/include/fuse_variables/point_3d_landmark.h b/fuse_variables/include/fuse_variables/point_3d_landmark.h
@@ -37,7 +37,9 @@
 #ifndef FUSE_VARIABLES_POINT_3D_LANDMARK_H
 #define FUSE_VARIABLES_POINT_3D_LANDMARK_H
 
+#include <fuse_core/ceres_macros.h>
 #include <fuse_core/fuse_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
 #include <fuse_core/uuid.h>
 #include <fuse_variables/fixed_size_variable.h>
@@ -127,6 +129,15 @@ class Point3DLandmark : public FixedSizeVariable<3>
    */
   void print(std::ostream& stream = std::cout) const override;
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 protected:
   /**
    * @brief Construct a point 3D variable given a landmarks id

diff --git a/fuse_variables/include/fuse_variables/position_2d_stamped.h b/fuse_variables/include/fuse_variables/position_2d_stamped.h
@@ -34,8 +34,10 @@
 #ifndef FUSE_VARIABLES_POSITION_2D_STAMPED_H
 #define FUSE_VARIABLES_POSITION_2D_STAMPED_H
 
-#include <fuse_core/uuid.h>
+#include <fuse_core/ceres_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
+#include <fuse_core/uuid.h>
 #include <fuse_core/variable.h>
 #include <fuse_variables/fixed_size_variable.h>
 #include <fuse_variables/stamped.h>
@@ -112,6 +114,15 @@ class Position2DStamped : public FixedSizeVariable<2>, public Stamped
    */
   void print(std::ostream& stream = std::cout) const override;
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 private:
   // Allow Boost Serialization access to private methods
   friend class boost::serialization::access;

diff --git a/fuse_variables/include/fuse_variables/position_3d_stamped.h b/fuse_variables/include/fuse_variables/position_3d_stamped.h
@@ -34,8 +34,10 @@
 #ifndef FUSE_VARIABLES_POSITION_3D_STAMPED_H
 #define FUSE_VARIABLES_POSITION_3D_STAMPED_H
 
-#include <fuse_core/uuid.h>
+#include <fuse_core/ceres_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
+#include <fuse_core/uuid.h>
 #include <fuse_core/variable.h>
 #include <fuse_variables/fixed_size_variable.h>
 #include <fuse_variables/stamped.h>
@@ -124,6 +126,15 @@ class Position3DStamped : public FixedSizeVariable<3>, public Stamped
    */
   void print(std::ostream& stream = std::cout) const override;
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 private:
   // Allow Boost Serialization access to private methods
   friend class boost::serialization::access;

diff --git a/fuse_variables/include/fuse_variables/velocity_angular_2d_stamped.h b/fuse_variables/include/fuse_variables/velocity_angular_2d_stamped.h
@@ -34,8 +34,10 @@
 #ifndef FUSE_VARIABLES_VELOCITY_ANGULAR_2D_STAMPED_H
 #define FUSE_VARIABLES_VELOCITY_ANGULAR_2D_STAMPED_H
 
-#include <fuse_core/uuid.h>
+#include <fuse_core/ceres_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
+#include <fuse_core/uuid.h>
 #include <fuse_core/variable.h>
 #include <fuse_variables/fixed_size_variable.h>
 #include <fuse_variables/stamped.h>
@@ -100,6 +102,15 @@ class VelocityAngular2DStamped : public FixedSizeVariable<1>, public Stamped
    */
   void print(std::ostream& stream = std::cout) const override;
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 private:
   // Allow Boost Serialization access to private methods
   friend class boost::serialization::access;

diff --git a/fuse_variables/include/fuse_variables/velocity_angular_3d_stamped.h b/fuse_variables/include/fuse_variables/velocity_angular_3d_stamped.h
@@ -34,8 +34,10 @@
 #ifndef FUSE_VARIABLES_VELOCITY_ANGULAR_3D_STAMPED_H
 #define FUSE_VARIABLES_VELOCITY_ANGULAR_3D_STAMPED_H
 
-#include <fuse_core/uuid.h>
+#include <fuse_core/ceres_macros.h>
+#include <fuse_core/manifold.h>
 #include <fuse_core/serialization.h>
+#include <fuse_core/uuid.h>
 #include <fuse_core/variable.h>
 #include <fuse_variables/fixed_size_variable.h>
 #include <fuse_variables/stamped.h>
@@ -123,6 +125,15 @@ class VelocityAngular3DStamped : public FixedSizeVariable<3>, public Stamped
    */
   void print(std::ostream& stream = std::cout) const override;
 
+#if CERES_SUPPORTS_MANIFOLDS
+  /**
+   * @brief Create a null Ceres manifold
+   *
+   * Overriding the manifold() method prevents additional processing with the ManifoldAdapter
+   */
+  fuse_core::Manifold* manifold() const override { return nullptr; }
+#endif
+
 private:
   // Allow Boost Serialization access to private methods
   friend class boost::serialization::access;