Allow ProductManifold default construction
In many cases, manifolds stored in ProductManifold have a default
constructor which can simplify ProductManifold initialization even
further. Allow default construction of ProductManifold in this case.
Change-Id: I29b2612870c02232556688019a77049709684a55
diff --git a/internal/ceres/manifold_test.cc b/internal/ceres/manifold_test.cc
index 60f98d2..6210c7a 100644
--- a/internal/ceres/manifold_test.cc
+++ b/internal/ceres/manifold_test.cc
@@ -428,6 +428,57 @@
EXPECT_EQ(manifold1.TangentSize(), manifold2.TangentSize());
}
+struct NonDefaultConstructibleManifold : ceres::Manifold {
+ NonDefaultConstructibleManifold(int, int) {}
+ int AmbientSize() const override { return 4; }
+ int TangentSize() const override { return 3; }
+
+ bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const override {
+ return true;
+ }
+
+ bool PlusJacobian(const double* x, double* jacobian) const override {
+ return true;
+ }
+
+ bool RightMultiplyByPlusJacobian(const double* x,
+ const int num_rows,
+ const double* ambient_matrix,
+ double* tangent_matrix) const override {
+ return true;
+ }
+
+ bool Minus(const double* y,
+ const double* x,
+ double* y_minus_x) const override {
+ return true;
+ }
+
+ bool MinusJacobian(const double* x, double* jacobian) const override {
+ return true;
+ }
+};
+
+TEST(ProductManifold, NonDefaultConstructible) {
+ ProductManifold<NonDefaultConstructibleManifold, QuaternionManifold>
+ manifold1{NonDefaultConstructibleManifold{1, 2}, QuaternionManifold{}};
+ ProductManifold<QuaternionManifold, NonDefaultConstructibleManifold>
+ manifold2{QuaternionManifold{}, NonDefaultConstructibleManifold{1, 2}};
+
+ EXPECT_EQ(manifold1.AmbientSize(), manifold2.AmbientSize());
+ EXPECT_EQ(manifold1.TangentSize(), manifold2.TangentSize());
+}
+
+TEST(ProductManifold, DefaultConstructible) {
+ ProductManifold<EuclideanManifold<3>, SphereManifold<4>> manifold1;
+ ProductManifold<SphereManifold<4>, EuclideanManifold<3>> manifold2;
+
+ EXPECT_EQ(manifold1.AmbientSize(), manifold2.AmbientSize());
+ EXPECT_EQ(manifold1.TangentSize(), manifold2.TangentSize());
+}
+
TEST(QuaternionManifold, PlusPiBy2) {
QuaternionManifold manifold;
Vector x = Vector::Zero(4);
