point.h

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// Copyright (c) 2011, Hauke Strasdat
// Copyright (c) 2012, Steven Lovegrove
// Copyright (c) 2021, farm-ng, inc.
//
// Use of this source code is governed by an MIT-style
// license that can be found in the LICENSE file or at
// https://opensource.org/licenses/MIT.
 
#pragma once
 
#include "sophus/concepts/utils.h"
 
#include <Eigen/Core>
 
namespace sophus {
namespace concepts {
 
// These concept let us match Eigen's CRTP pattern and capture the true Derived
// type safely
 
template <class TDerived>
concept EigenType = DerivedFrom<TDerived, Eigen::EigenBase<TDerived>>;
 
template <class TDerived>
concept EigenDenseType = DerivedFrom<TDerived, Eigen::DenseBase<TDerived>>;
 
template <class TDerived>
concept EigenMatrixType = DerivedFrom<TDerived, Eigen::MatrixBase<TDerived>>;
 
template <class TDerived>
concept EigenArrayType = DerivedFrom<TDerived, Eigen::ArrayBase<TDerived>>;
 
template <class TT1, typename TT2>
concept EigenSameDim = EigenDenseType<TT1> && EigenDenseType<TT2> &&
                       (TT1::RowsAtCompileTime == Eigen::Dynamic ||
                        TT1::RowsAtCompileTime == TT2::RowsAtCompileTime) &&
                       (TT1::ColsAtCompileTime == Eigen::Dynamic ||
                        TT1::ColsAtCompileTime == TT2::ColsAtCompileTime);
 
template <int kRows, int kCols, typename TT>
concept EigenWithDim = EigenDenseType<TT> && TT::RowsAtCompileTime ==
                       kRows&& TT::ColsAtCompileTime == kCols;
 
template <typename TT>
concept EigenVector3 = EigenDenseType<TT> && TT::RowsAtCompileTime == 3 &&
                       TT::ColsAtCompileTime == 1;
 
template <int kRows, int kCols, typename TT>
concept EigenWithDimOrDynamic = EigenDenseType<TT> &&
                                (TT::RowsAtCompileTime == Eigen::Dynamic ||
                                 TT::RowsAtCompileTime == kRows) &&
                                (TT::ColsAtCompileTime == Eigen::Dynamic ||
                                 TT::ColsAtCompileTime == kCols);
;
 
template <class TT>
concept RealScalarType = std::is_floating_point_v<TT>;
 
template <class TT>
concept IntegerScalarType = std::is_integral_v<TT>;
 
template <class TT>
concept ScalarType = RealScalarType<TT> || IntegerScalarType<TT>;
 
template <class TT>
concept RealEigenDenseType =
    EigenDenseType<TT> && std::is_floating_point_v<typename TT::Scalar>;
 
template <class TT>
concept IntegerEigenDenseType =
    EigenDenseType<TT> && std::is_integral_v<typename TT::Scalar>;
 
template <class TT>
concept RealPointType = RealScalarType<TT> || RealEigenDenseType<TT>;
 
template <class TT>
concept IntegerPointType = IntegerScalarType<TT> || IntegerEigenDenseType<TT>;
 
template <class TT>
concept PointType = RealPointType<TT> || IntegerPointType<TT>;
 
}  // namespace concepts
}  // namespace sophus