added move constructors

.vscode/c_cpp_properties.json

@@ -4,8 +4,7 @@
             "name": "Linux",
             "includePath": [
                 "${workspaceFolder}/**",
-                "/usr/include/**",
-                "${workspaceFolder}/include"
+                "/usr/include/**"
             ],
             "defines": [],
             "compilerPath": "/usr/bin/clang",

include/lie_algebras/rn.h

@@ -18,18 +18,33 @@ static const unsigned int dim_ = N;
 static const unsigned int size1_ = N;
 static const unsigned int size2_ = 1;
 
+// The rule of 5!!
 
 /**
  * Default constructor. Initializes algebra element to identity.
  */
 rn() : data_(Eigen::Matrix<double,N,1>::Zero()) {}
 
-
 /**
  * Copy constructor.
  */ 
 rn(const rn & u) : data_(u.data_) {}
 
+/**
+ * Copy assignment.
+ */
+void operator = (const rn& u){data_ = u.data_;}
+
+/**
+ * Move constructor.
+ */ 
+rn(const rn && u) : data_(u.data_) {}
+
+/**
+ * Move assignment.
+ */
+void operator = (const rn&& u){data_ = u.data_;}
+
 /**
 * Initializes algebra element to the one given. 
 * @param[in] data The data of an element of \f$\mathbb{R}^2\f$
@@ -191,12 +206,6 @@ rn operator + (const rn& u){return rn(data_ + u.data_);}
  */ 
 rn operator - (const rn& u){return rn(data_ - u.data_);}
 
-/**
- * Creates a deep copy of the element
- * @param u An element of the Lie algebra.
- */
-void operator = (const rn& u){data_ = u.data_;}
-
 /**
  * Performs Scalar multiplication and returns the result.
  * @param scalar The scalar that will scale the element of the Lie algebra

include/lie_algebras/se2.h

@@ -32,6 +32,23 @@ se2(): p_(data_.data()), th_(data_.data()+2), data_(Eigen::Matrix<double,3,1>::Z
  */ 
 se2(const se2 & u) : p_(data_.data()), th_(data_.data()+2), data_(u.data_){}
 
+/**
+ * Copy assignment
+ */
+void operator = (const se2& u){data_ = u.data_;}
+
+/**
+ * Move constructor.
+ */ 
+se2(const se2 && u) : p_(data_.data()), th_(data_.data()+2), data_(u.data_){}
+
+/**
+ * Move assignment.
+ */
+void operator = (const se2&& u){data_ = u.data_;}
+
+
+
 /**
 * Initializes algebra element to the one given. 
 * @param[in] data The data of an element of Cartesian space of \f$se(2)\f$
@@ -194,12 +211,6 @@ se2 operator + (const se2& u){return se2(data_ + u.data_);}
  */ 
 se2 operator - (const se2& u){return se2(data_ - u.data_);}
 
-/**
- * Creates a deep copy of the element
- * @param u An element of the Lie algebra.
- */
-void operator = (const se2& u){data_ = u.data_;}
-
 /**
  * Performs Scalar multiplication and returns the result.
  * @param scalar The scalar that will scale the element of the Lie algebra

include/lie_algebras/se3.h

@@ -34,6 +34,22 @@ se3() : p_(data_.data()), th_(data_.data()+3), data_(Eigen::Matrix<double,6,1>::
  */ 
 se3(const se3 & u) : p_(data_.data()), th_(data_.data()+3), data_(u.data_) {}
 
+/**
+ *Copy assignment
+ */
+void operator = (const se3& u){data_ = u.data_;}
+
+/**
+ * Move constructor.
+ */ 
+se3(const se3 && u) : p_(data_.data()), th_(data_.data()+3), data_(u.data_) {}
+
+/**
+ *Move assignment
+ */
+void operator = (const se3&& u){data_ = u.data_;}
+
+
 /**
 * Initializes algebra element to the one given. 
 * @param[in] data The data of an element of Cartesian space of \f$se(3)\f$
@@ -198,12 +214,6 @@ se3 operator + (const se3& u){return se3(data_ + u.data_);}
  */ 
 se3 operator - (const se3& u){return se3(data_ - u.data_);}
 
-/**
- * Creates a deep copy of the element
- * @param u An element of the Lie algebra.
- */
-void operator = (const se3& u){data_ = u.data_;}
-
 /**
  * Performs Scalar multiplication and returns the result.
  * @param scalar The scalar that will scale the element of the Lie algebra

include/lie_algebras/so2.h

@@ -29,6 +29,21 @@ so2() : data_(Eigen::Matrix<double,1,1>::Zero()){}
  */ 
 so2(const so2 & u) : data_(u.data_){}
 
+/**
+ * Copy assignment.
+ */
+void operator = (const so2& u){data_ = u.data_;}
+
+/**
+ * Move constructor.
+ */ 
+so2(const so2 && u) : data_(u.data_){}
+
+/**
+ * Move assignment.
+ */
+void operator = (const so2&& u){data_ = u.data_;}
+
 /**
 * Initializes algebra element to the one given. 
 * @param[in] data The data of an element of Cartesian space of \f$so(2)\f$

include/lie_algebras/so3.h

@@ -28,6 +28,21 @@ so3() : data_(Eigen::Matrix<double,3,1>::Zero()){}
  */ 
 so3(const so3 & u) : data_(u.data_) {}
 
+/**
+ * Copy assignment.
+ */
+void operator = (const so3& u){data_ = u.data_;}
+
+/**
+ * Move constructor.
+ */ 
+so3(const so3 && u) : data_(u.data_) {}
+
+/**
+ * Move assignment.
+ */
+void operator = (const so3&& u){data_ = u.data_;}
+
 /**
 * Initializes algebra element to the one given. 
 * @param[in] data The data of an element of Cartesian space of \f$so(3)\f$
@@ -183,12 +198,6 @@ so3 operator + (const so3& u){return so3(data_ + u.data_);}
  */ 
 so3 operator - (const so3& u){return so3(data_ - u.data_);}
 
-/**
- * Creates a deep copy of the element
- * @param u An element of the Lie algebra.
- */
-void operator = (const so3& u){data_ = u.data_;}
-
 /**
  * Performs Scalar multiplication and returns the result.
  * @param scalar The scalar that will scale the element of the Lie algebra

include/lie_groups/Rn.h

@@ -32,6 +32,21 @@ Rn() : data_(Eigen::Matrix<double,N,1>::Zero()) {}
  */ 
 Rn(const Rn & g) : data_(g.data_) {}
 
+/**
+ * Copy assignment
+ */ 
+void operator = (const Rn& g){ this->data_ = g.data_; }
+
+/**
+ * Move constructor.
+ */ 
+Rn(const Rn && g) : data_(g.data_) {}
+
+/**
+ * Move assignment
+ */ 
+void operator = (const Rn&& g){ this->data_ = g.data_; }
+
 /**
 * Initializes group element to the one given. If verify is true
 * it will check that the input is an element of \f$\mathbb{R}^n\f$
@@ -80,13 +95,6 @@ Eigen::Matrix<double,N,1> Log(){return data_;}
  */ 
 Rn operator * (const Rn& g){ return Rn(data_  + g.data_);}
 
-
-/**
- * Assignment Operator. Deep copy of the input parameter
- * @param g The element to be copied.
- */ 
-void operator = (const Rn& g){ this->data_ = g.data_; }
-
 /**
  * Performs the OPlus operation 
  * @param g_data The data belonging to the group element.

include/lie_groups/SE2.h

@@ -32,6 +32,21 @@ SE2() : t_(data_.data()+6), R_(data_.block(0,0,2,2)), data_(Eigen::Matrix3d::Ide
  */ 
 SE2(const SE2 & g) : t_(data_.data()+6), R_(data_.block(0,0,2,2)), data_(g.data_) {}
 
+/**
+ * Copy assignment
+ */ 
+void operator = (const SE2& g){ this->data_ = g.data_; }
+
+/**
+ * Move constructor.
+ */ 
+SE2(const SE2 && g) : t_(data_.data()+6), R_(data_.block(0,0,2,2)), data_(g.data_) {}
+
+/**
+ * Move assignment
+ */ 
+void operator = (const SE2&& g){ this->data_ = g.data_; }
+
 /**
 * Initializes group element to the one given. If verify is true
 * it will check that the input is an element of \f$SE(2)\f$
@@ -85,13 +100,6 @@ Eigen::Matrix<double,3,1> Log() {return se2::Log(this->data_);}
  */ 
 SE2 operator * (const SE2& g){ return SE2(data_ *g.data_);}
 
-
-/**
- * Assignment Operator. Deep copy of the input parameter
- * @param g The element to be copied.
- */ 
-void operator = (const SE2& g){ this->data_ = g.data_; }
-
 /**
  * Performs the OPlus operation 
  * @param g_data The data belonging to the group element.

include/lie_groups/SE3.h

@@ -32,6 +32,21 @@ SE3() : t_(data_.data()+12), R_(data_.block(0,0,3,3)), data_(Eigen::Matrix<doubl
  */ 
 SE3(const SE3 & g) : t_(data_.data()+12), R_(data_.block(0,0,3,3)), data_(g.data_) {}
 
+/**
+ * Copy assignment
+ */ 
+void operator = (const SE3& g){ this->data_ = g.data_; }
+
+/**
+ * Move constructor.
+ */ 
+SE3(const SE3 && g) : t_(data_.data()+12), R_(data_.block(0,0,3,3)), data_(g.data_) {}
+
+/**
+ * Move assignment
+ */ 
+void operator = (const SE3&& g){ this->data_ = g.data_; }
+
 /**
 * Initializes group element to the one given. If verify is true
 * it will check that the input is an element of \f$SE(3)\f$
@@ -89,12 +104,6 @@ Eigen::Matrix<double,6,1> Log() {return se3::Log(this->data_);}
  */ 
 SE3 operator * (const SE3& g){ return SE3(data_ *g.data_);}
 
-/**
- * Assignment Operator. Deep copy of the input parameter
- * @param g The element to be copied.
- */ 
-void operator = (const SE3& g){ this->data_ = g.data_; }
-
 /**
  * Performs the OPlus operation 
  * @param g_data The data belonging to the group element.

include/lie_groups/SO2.h

@@ -33,6 +33,21 @@ SO2() : data_(Eigen::Matrix<double,2,2>::Identity()){}
  */ 
 SO2(const SO2 & g) : data_(g.data_) {}
 
+/**
+ * Copy assignment
+ */ 
+void operator = (const SO2& g){ this->data_ = g.data_; }
+
+/**
+ * Move constructor.
+ */ 
+SO2(const SO2 && g) : data_(g.data_) {}
+
+/**
+ * Move assignment
+ */ 
+void operator = (const SO2&& g){ this->data_ = g.data_; }
+
 /**
 * Initializes group element to the one given. If verify is true
 * it will check that the input is an element of \f$SO(2)\f$
@@ -81,13 +96,6 @@ Eigen::Matrix<double,1,1> Log();
  */ 
 SO2 operator * (const SO2& g){ return SO2(data_ *g.data_);}
 
-
-/**
- * Assignment Operator. Deep copy of the input parameter
- * @param g The element to be copied.
- */ 
-void operator = (const SO2& g){ this->data_ = g.data_; }
-
 /**
  * Performs the OPlus operation 
  * @param g_data The data belonging to the group element.

include/lie_groups/SO3.h

@@ -30,6 +30,21 @@ SO3() : data_(Eigen::Matrix3d::Identity()){}
  */ 
 SO3(const SO3 & g) : data_(g.data_) {}
 
+/**
+ * copy assignment
+ */ 
+void operator = (const SO3& g){ this->data_ = g.data_; }
+
+/**
+ * Move constructor.
+ */ 
+SO3(const SO3 && g) : data_(g.data_) {}
+
+/**
+ * Move assignment
+ */ 
+void operator = (const SO3&& g){ this->data_ = g.data_; }
+
 /**
 * Initializes group element to the one given. If verify is true
 * it will check that the input is an element of \f$SO(3)\f$
@@ -77,13 +92,6 @@ Eigen::Matrix<double,3,1> Log();
  */ 
 SO3 operator * (const SO3& g){ return SO3(data_ *g.data_);}
 
-
-/**
- * Assignment Operator. Deep copy of the input parameter
- * @param g The element to be copied.
- */ 
-void operator = (const SO3& g){ this->data_ = g.data_; }
-
 /**
  * Performs the OPlus operation 
  * @param g_data The data belonging to the group element.