Add operator scalar * tangent (artivis#153)

* add scalar*tangent op
varyshare · Aug 3, 2020 · 3a735d4 · 3a735d4
1 parent 6d07bc6
commit 3a735d4
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Showing 2 changed files with 23 additions and 12 deletions.
diff --git a/include/manif/impl/tangent_base.h b/include/manif/impl/tangent_base.h
@@ -314,12 +314,10 @@ struct TangentBase
   _Derived& operator -=(const Eigen::MatrixBase<_EigenDerived>& v);
 
   //! @brief Multiply the underlying vector with a scalar.
-  template <typename T>
-  Tangent operator *=(const T scalar);
+  Tangent operator *=(const Scalar scalar);
 
   //! @brief Divide the underlying vector with a scalar.
-  template <typename T>
-  Tangent operator /=(const T scalar);
+  Tangent operator /=(const Scalar scalar);
 
   // static helpers
 
@@ -783,36 +781,42 @@ operator -(const Eigen::MatrixBase<_EigenDerived>& v,
 }
 
 template <typename _Derived>
-template <typename T>
 typename TangentBase<_Derived>::Tangent
-TangentBase<_Derived>::operator *=(const T scalar)
+TangentBase<_Derived>::operator *=(const Scalar scalar)
 {
   coeffs() *= scalar;
   return derived();
 }
 
 template <typename _Derived>
-template <typename T>
 typename TangentBase<_Derived>::Tangent
-TangentBase<_Derived>::operator /=(const T scalar)
+TangentBase<_Derived>::operator /=(const Scalar scalar)
 {
   coeffs() /= scalar;
   return derived();
 }
 
-template <typename _Derived, typename T>
+template <typename _Derived>
 typename TangentBase<_Derived>::Tangent
 operator *(const TangentBase<_Derived>& t,
-           const T scalar)
+           const typename _Derived::Scalar scalar)
 {
   typename TangentBase<_Derived>::Tangent ret(t);
   return ret *= scalar;
 }
 
-template <typename _Derived, typename T>
+template <typename _Derived>
+typename TangentBase<_Derived>::Tangent
+operator *(const typename _Derived::Scalar scalar,
+           const TangentBase<_Derived>& t)
+{
+  return t * scalar;
+}
+
+template <typename _Derived>
 typename TangentBase<_Derived>::Tangent
 operator /(const TangentBase<_Derived>& t,
-           const T scalar)
+           const typename _Derived::Scalar scalar)
 {
   typename TangentBase<_Derived>::Tangent ret(t);
   return ret /= scalar;

diff --git a/test/common_tester.h b/test/common_tester.h
@@ -467,6 +467,13 @@ class CommonTester : public ::testing::Test
     w << delta_data;
 
     EXPECT_EIGEN_NEAR(delta_data, w.coeffs());
+
+    EXPECT_EIGEN_NEAR((delta*3.14).coeffs(), delta_data*3.14);
+    EXPECT_EIGEN_NEAR((3.14*delta).coeffs(), 3.14*delta_data);
+    EXPECT_EIGEN_NEAR((delta*=3.14).coeffs(), delta_data*=3.14);
+
+    EXPECT_EIGEN_NEAR((delta/5.12).coeffs(), delta_data/5.12);
+    EXPECT_EIGEN_NEAR((delta/=5.12).coeffs(), delta_data/=5.12);
   }
 
   void evalGeneratorsHat()