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Add user-defined copy constructor for Rot2 #806

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Jun 30, 2021
Merged

Add user-defined copy constructor for Rot2 #806

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12 changes: 4 additions & 8 deletions gtsam/geometry/Rot2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,12 +25,8 @@ namespace gtsam {

/* ************************************************************************* */
Rot2 Rot2::fromCosSin(double c, double s) {
if (std::abs(c * c + s * s - 1.0) > 1e-9) {
double norm_cs = sqrt(c*c + s*s);
c = c/norm_cs;
s = s/norm_cs;
}
return Rot2(c, s);
Rot2 R(c, s);
return R.normalize();
}

/* ************************************************************************* */
Expand Down Expand Up @@ -59,8 +55,8 @@ bool Rot2::equals(const Rot2& R, double tol) const {
/* ************************************************************************* */
Rot2& Rot2::normalize() {
double scale = c_*c_ + s_*s_;
if(std::abs(scale-1.0)>1e-10) {
scale = pow(scale, -0.5);
if(std::abs(scale-1.0) > 1e-10) {
scale = 1 / sqrt(scale);
c_ *= scale;
s_ *= scale;
}
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3 changes: 3 additions & 0 deletions gtsam/geometry/Rot2.h
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Expand Up @@ -50,6 +50,9 @@ namespace gtsam {

/** default constructor, zero rotation */
Rot2() : c_(1.0), s_(0.0) {}

/** copy constructor */
Rot2(const Rot2& r) : Rot2(r.c_, r.s_) {}
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Is this not default?

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Do you mean is this not the copy constructor that is generated by default by the compiler? I imagine that it probably is, but it is hard to say whether it is the compiler-generated version of the copy constructor itself or the copy constructor elision for return value optimization that was causing the error without fully dissecting that assembly I posted in the issue reply.


/// Constructor from angle in radians == exponential map at identity
Rot2(double theta) : c_(cos(theta)), s_(sin(theta)) {}
Expand Down