Add Bundle and BundleTangent types

.github/workflows/ci.yml

@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-16.04, ubuntu-18.04, ubuntu-20.04]
+        os: [ubuntu-18.04, ubuntu-20.04]
         build_type: [Release, Debug]
         compiler: [{
           "cc": "gcc",

CMakeLists.txt

@@ -245,6 +245,8 @@ if(ENABLE_CPPCHECK)
         --suppress=unknownMacro:*test/ceres/ceres_test_utils.h
         --suppress=constStatement:*examples*
         --suppress=unreadVariable:*gtest_se2_autodiff.cpp:101
+        --suppress=unreadVariable:*bundle_sam.cpp:94
+        --suppress=unreadVariable:*bundle_sam.cpp:124
         # Uncomment the line below to run cppcheck-html
         # --output-file=${CMAKE_BINARY_DIR}/cppcheck_results.xml
         ${CMAKE_SOURCE_DIR}/include

README.md

@@ -26,6 +26,9 @@ At the moment, it provides the groups:
   introduced (to the best of knowledge) in this [paper][barrau15].
   NOTE: The implementation here differs slightly from
   the developments in the [paper][barrau15].
+- Bundle<>: allows manipulating a manifold bundle as a single Lie group.
+  Referred to as a *composite manifold* in Section IV of the
+  [reference paper](http://arxiv.org/abs/1812.01537).
 
 Other Lie groups can and will be added, contributions are welcome.
 

examples/CMakeLists.txt

@@ -36,6 +36,18 @@ set(CXX_11_EXAMPLE_TARGETS
   se_2_3_localization
 )
 
+if(NOT MSVC)
+  add_executable(bundle_sam bundle_sam.cpp)
+
+  set(CXX_11_EXAMPLE_TARGETS
+
+    ${CXX_11_EXAMPLE_TARGETS}
+
+    # Bundle
+    bundle_sam
+  )
+endif()
+
 # Link to manif
 foreach(target ${CXX_11_EXAMPLE_TARGETS})
   target_link_libraries(${target} ${PROJECT_NAME})
@@ -45,7 +57,7 @@ foreach(target ${CXX_11_EXAMPLE_TARGETS})
     target_compile_options(${target} PRIVATE
       -Werror=all
       -Werror=extra
-      )
+    )
   endif()
 
 endforeach()