factrs 0.3.0

Factor graph optimization for robotics
Documentation 
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use nalgebra::{Const, allocator::Allocator};

use super::{Dim, RealField, SupersetOf};
use crate::dtype;

/// Wrapper for all properties needed for dual numbers
pub trait Numeric: RealField + num_dual::DualNum<dtype> + SupersetOf<dtype> + Copy {}
impl<G: RealField + num_dual::DualNum<dtype> + SupersetOf<dtype> + Copy> Numeric for G {}

pub type DualVector<N> = num_dual::DualVec<dtype, dtype, N>;
pub type DualScalar = num_dual::Dual<dtype, dtype>;

/// Make allocator binds easier for dual numbers
pub trait DualAllocator<N: Dim>:
    Allocator<N> + Allocator<Const<1>, N> + Allocator<N, Const<1>> + Allocator<N, N>
{
}

impl<N: Dim, T: Allocator<N> + Allocator<Const<1>, N> + Allocator<N, Const<1>> + Allocator<N, N>>
    DualAllocator<N> for T
{
}