template以及operator*的正确用法

模板类与运算符重载在C++中的应用
本文详细介绍了如何在C++中使用模板类和运算符重载来实现数学表达式的自动简化与计算,通过实例展示了类成员函数和友元函数的运用,以及如何在模板类中实现自动类型转换。

这是看《Effective c++》时在VS上玩的代码。

#include <iostream>
using namespace std;

template<typename T>
class Rational{
public:
	Rational(const T& numerator =0,const T& denominator = 1);
	const T numerator() const;//不暴露私有变量给调用者修改
	const T denominator() const;

	//为了让类型转换可能发生于所有实参身上,需要non-member函数;
	//为了让这个函数被自动具现化,需要将它声明在class内部
	friend const Rational operator*(const Rational& lhs,const Rational& rhs)
	{
		return Rational(lhs.numerator()*rhs.numerator(),lhs.denominator()*rhs.denominator());
	}
	/*
	如果类内提供声明:
	friend const Rational operator*(const Rational& lhs,const Rational& rhs);
	然后在外部提供定义式:
	template<typename T>
	const Rational<T> operator*(const Rational<T>& lhs,const Rational<T>& rhs)
	{
		return Rational(lhs.numerator()*rhs.numerator(),lhs.denominator()*rhs.denominator());
	}
	
	可是链接时不成功:无法解析的外部符号
	"class Rational<int> const __cdecl operator*(class Rational<int> const &,class Rational<int> const &)"
	*/
	 
	void print()
	{
		cout<<numerator()<<"/"<<denominator()<<endl;
	}
private:
	T num;
	T deno;
};




template<typename T>
Rational<T>::Rational(const T& numerator,const T& denominator)
{
	num = numerator;
	deno = denominator;
}

template<typename T>
const T Rational<T>::numerator()const {
	return num;
}

template<typename T>
const T Rational<T>::denominator()const {
	return deno;
}

int main()
{
	Rational<int> a (2,7);
	Rational<int> b = a*2;//2被转换成Rational(2),分子赋值为2,分母没值默认为1
	b.print();
	Rational<int>c =a*a;
	c.print();
return 0;
}


报错:guo@guo-Dell-G15-5520:~/g2o仿真/src/build$ make Consolidate compiler generated dependencies of target g2o_demo [ 50%] Building CXX object CMakeFiles/g2o_demo.dir/optimize.cc.o /home/guo/g2o仿真/src/optimize.cc: In function ‘std::vector<g2o::SE3Quat> addNoise(const std::vector<g2o::SE3Quat>&, double, double, bool)’: /home/guo/g2o仿真/src/optimize.cc:90:61: error: no match for ‘operator*’ (operand types are ‘g2o::SE3Quat’ and ‘const Quaternion’ {aka ‘const Eigen::Quaternion<double>’}) 90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^ ~~~~~~~~~~~~~~~~~~~ | | | | g2o::SE3Quat const Quaternion {aka const Eigen::Quaternion<double>} In file included from /home/guo/g2o仿真/src/optimize.cc:11: /opt/ros/noetic/include/g2o/types/slam3d/se3quat.h:99:22: note: candidate: ‘g2o::SE3Quat g2o::SE3Quat::operatonst Eigen::MatrixBase<U>&)’ 325 | operator*(const TranspositionsBase<TranspositionsDerived> &transpositions, | ^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Core/Transpositions.h:325:1: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ 90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation()); | ^ In file included from /usr/local/include/eigen3/Eigen/Householder:24, from /usr/local/include/eigen3/Eigen/QR:15, from /usr/local/include/eigen3/Eigen/SVD:11, from /usr/local/include/eigen3/Eigen/Geometry:13, from /home/guo/g2o仿真/src/optimize.cc:5: /usr/local/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:513:99: note: candidate: ‘template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)’ 513 | typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h) | ^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:513:99: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::MatrixBase<Derived>’ 90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation()); | ^ In file included from /usr/local/include/eigen3/Eigen/Geometry:46, from /home/guo/g2o仿真/src/optimize.cc:5: /usr/local/include/eigen3/Eigen/src/Geometry/Scaling.h:135:1: note: candidate: ‘template<class Derived, class Scalar> Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::traits<T>::Scalar, Scalar>, const Derived, const typename Eigen::internal::plain_constant_type<Expr, Scalar>::type> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::UniformScaling<Scalar>&)’ 135 | operator*(const MatrixBase<Derived>& matrix, const UniformScaling<Scalar>& s) | ^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Geometry/Scaling.h:135:1: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::MatrixBase<Derived>’ 90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation()); | ^ In file included from /usr/local/include/eigen3/Eigen/SparseCore:62, from /usr/local/include/eigen3/Eigen/Sparse:26, from /opt/ros/noetic/include/g2o/solvers/eigen/linear_solver_eigen.h:30, from /home/guo/g2o仿真/src/optimize.cc:10: /usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:147:1: note: candidate: ‘template<class SparseDerived, class PermDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::SparseMatrixBase<OtherDerived>&, const Eigen::PermutationBase<PermutationDerived>&)’ 147 | operator*(const SparseMatrixBase<SparseDerived>& matrix, const PermutationBase<PermDerived>& perm) | ^~~~~~~~ /usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:147:1: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::SparseMatrixBase<OtherDerived>’ 90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation()); | ^ In file included from /usr/local/include/eigen3/Eigen/SparseCore:62, from /usr/local/include/eigen3/Eigen/Sparse:26, from /opt/ros/noetic/include/g2o/solvers/eigen/linear_solver_eigen.h:30, from /home/guo/g2o仿真/src/optimize.cc:10: /usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:154:1: note: candidate: ‘template<class SparseDerived, class PermDerived> const Eigen::Product<PermDerived, SparseDerived, 2> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::SparseMatrixBase<OtherDerived>&)’ 154 | operator*( const PermutationBase<PermDerived>& perm, const SparseMatrixBase<SparseDerived>& matrix) | ^~~~~~~~ /usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:154:1: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::PermutationBase<PermutationDerived>’ 90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation()); | ^ In file included from /usr/local/include/eigen3/Eigen/SparseCore:62, from /usr/local/include/eigen3/Eigen/Sparse:26, from /opt/ros/noetic/include/g2o/solvers/eigen/linear_solver_eigen.h:30, from /home/guo/g2o仿真/src/optimize.cc:10: /usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:162:1: note: candidate: ‘template<class SparseDerived, class PermutationType> const Eigen::Product<SparseDerived, Eigen::Inverse<Rhs>, 2> Eigen::operator*(const Eigen::SparseMatrixBase<OtherDerived>&, const Eigen::InverseImpl<PermutationType, Eigen::PermutationStorage>&)’ 162 | operator*(const SparseMatrixBase<SparseDerived>& matrix, const InverseImpl<PermutationType, PermutationStorage>& tperm) | ^~~~~~~~ /usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:162:1: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::SparseMatrixBase<OtherDerived>’ 90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation()); | ^ In file included from /usr/local/include/eigen3/Eigen/SparseCore:62, from /usr/local/include/eigen3/Eigen/Sparse:26, from /opt/ros/noetic/include/g2o/solvers/eigen/linear_solver_eigen.h:30, from /home/guo/g2o仿真/src/optimize.cc:10: /usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:171:1: note: candidate: ‘template<class SparseDerived, class PermutationType> const Eigen::Product<Eigen::Inverse<Rhs>, SparseDerived, 2> Eigen::operator*(const Eigen::InverseImpl<PermutationType, Eigen::PermutationStorage>&, const Eigen::SparseMatrixBase<OtherDerived>&)’ 171 | operator*(const InverseImpl<PermutationType,PermutationStorage>& tperm, const SparseMatrixBase<SparseDerived>& matrix) | ^~~~~~~~ /usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:171:1: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::InverseImpl<PermutationType, Eigen::PermutationStorage>’ 90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation()); | ^ In file included from /usr/local/include/eigen3/Eigen/Geometry:40, from /home/guo/g2o仿真/src/optimize.cc:5: /usr/local/include/eigen3/Eigen/src/Geometry/RotationBase.h:80:66: note: candidate: ‘Eigen::Transform<double, 3, 2> Eigen::operator*(const Eigen::DiagonalMatrix<double, 3>&, const Eigen::Quaternion<double>&)’ 80 | EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r) | ^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Geometry/RotationBase.h:80:110: note: no known conversion for argument 1 from ‘g2o::SE3Quat’ to ‘const Eigen::DiagonalMatrix<double, 3>&’ 80 | EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r) | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^ /usr/local/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:49: note: candidate: ‘template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)’ 76 | EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r) | ^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:49: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::EigenBase<Derived>’ 90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation()); | ^ In file included from /usr/include/x86_64-linux-gnu/c++/9/bits/c++allocator.h:33, from /usr/include/c++/9/bits/allocator.h:46, from /usr/include/c++/9/string:41, from /usr/include/c++/9/bits/locale_classes.h:40, from /usr/include/c++/9/bits/ios_base.h:41, from /usr/include/c++/9/ios:42, from /usr/include/c++/9/ostream:38, from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = g2o::SE3Quat; _Args = {Eigen::AngleAxis<double>&, Eigen::Matrix<double, 3, 1, 0, 3, 1>&}; _Tp = g2o::SE3Quat]’: /usr/include/c++/9/bits/alloc_traits.h:483:4: required from ‘static void std::allocator_traits<std::allocator<_CharT> >::construct(std::allocator_traits<std::allocator<_CharT> >::allocator_type&, _Up*, _Args&& ...) [with _Up = g2o::SE3Quat; _Args = {Eigen::AngleAxis<double>&, Eigen::Matrix<double, 3, 1, 0, 3, 1>&}; _Tp = g2o::SE3Quat; std::allocator_traits<std::allocator<_CharT> >::allocator_type = std::allocator<g2o::SE3Quat>]’ /usr/include/c++/9/bits/vector.tcc:115:30: required from ‘void std::vector<_Tp, _Alloc>::emplace_back(_Args&& ...) [with _Args = {Eigen::AngleAxis<double>&, Eigen::Matrix<double, 3, 1, 0, 3, 1>&}; _Tp = g2o::SE3Quat; _Alloc = std::allocator<g2o::SE3Quat>]’ /home/guo/g2o仿真/src/optimize.cc:66:54: required from here /usr/include/c++/9/ext/new_allocator.h:146:4: error: no matching function for call to ‘g2o::SE3Quat::SE3Quat(Eigen::AngleAxis<double>&, Eigen::Matrix<double, 3, 1>&)’ 146 | { ::new((void *)__p) _Up(std::forward<_Args>(__args)...); } | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
08-03
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