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Merged in fix/BAD_debuggedReshape (pull request #35) 

added missing OutOptions to the Reshape functor
release/4.3a0
Chris Beall 2014-11-11 13:53:54 -05:00
parent ac8b6317b9 2a2deff338
commit 02524f42e7
2 changed files with 10 additions and 10 deletions
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4
gtsam/base/Manifold.h
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@ -253,10 +253,10 @@ struct DefaultChart<Eigen::Matrix<double, M, N, Options> > {
typedef Eigen::Matrix<double, traits::dimension<T>::value, 1> vector;BOOST_STATIC_ASSERT_MSG((M!=Eigen::Dynamic && N!=Eigen::Dynamic), typedef Eigen::Matrix<double, traits::dimension<T>::value, 1> vector;BOOST_STATIC_ASSERT_MSG((M!=Eigen::Dynamic && N!=Eigen::Dynamic),
"DefaultChart has not been implemented yet for dynamically sized matrices"); "DefaultChart has not been implemented yet for dynamically sized matrices");
static vector local(const T& origin, const T& other) { static vector local(const T& origin, const T& other) {
return reshape<vector::RowsAtCompileTime, 1>(other) - reshape<vector::RowsAtCompileTime, 1>(origin); return reshape<vector::RowsAtCompileTime, 1, vector::Options>(other) - reshape<vector::RowsAtCompileTime, 1, vector::Options>(origin);
} }
static T retract(const T& origin, const vector& d) { static T retract(const T& origin, const vector& d) {
return origin + reshape<M, N>(d); return origin + reshape<M, N, Options>(d);
} }
static int getDimension(const T&origin) { static int getDimension(const T&origin) {
return origin.rows() * origin.cols(); return origin.rows() * origin.cols();

16
gtsam/base/Matrix.h
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@ -294,10 +294,10 @@ void zeroBelowDiagonal(MATRIX& A, size_t cols=0) {
inline Matrix trans(const Matrix& A) { return A.transpose(); } inline Matrix trans(const Matrix& A) { return A.transpose(); }
/// Reshape functor /// Reshape functor
template <int OutM, int OutN, int InM, int InN, int InOptions> template <int OutM, int OutN, int OutOptions, int InM, int InN, int InOptions>
struct Reshape { struct Reshape {
//TODO replace this with Eigen's reshape function as soon as available. (There is a PR already pending : https://bitbucket.org/eigen/eigen/pull-request/41/reshape/diff) //TODO replace this with Eigen's reshape function as soon as available. (There is a PR already pending : https://bitbucket.org/eigen/eigen/pull-request/41/reshape/diff)
typedef Eigen::Map<const Eigen::Matrix<double, OutM, OutN> > ReshapedType; typedef Eigen::Map<const Eigen::Matrix<double, OutM, OutN, OutOptions> > ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & in) { static inline ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & in) {
return in.data(); return in.data();
} }
@ -305,7 +305,7 @@ struct Reshape {
/// Reshape specialization that does nothing as shape stays the same (needed to not be ambiguous for square input equals square output) /// Reshape specialization that does nothing as shape stays the same (needed to not be ambiguous for square input equals square output)
template <int M, int InOptions> template <int M, int InOptions>
struct Reshape<M, M, M, M, InOptions> { struct Reshape<M, M, InOptions, M, M, InOptions> {
typedef const Eigen::Matrix<double, M, M, InOptions> & ReshapedType; typedef const Eigen::Matrix<double, M, M, InOptions> & ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, M, M, InOptions> & in) { static inline ReshapedType reshape(const Eigen::Matrix<double, M, M, InOptions> & in) {
return in; return in;
@ -314,7 +314,7 @@ struct Reshape<M, M, M, M, InOptions> {
/// Reshape specialization that does nothing as shape stays the same /// Reshape specialization that does nothing as shape stays the same
template <int M, int N, int InOptions> template <int M, int N, int InOptions>
struct Reshape<M, N, M, N, InOptions> { struct Reshape<M, N, InOptions, M, N, InOptions> {
typedef const Eigen::Matrix<double, M, N, InOptions> & ReshapedType; typedef const Eigen::Matrix<double, M, N, InOptions> & ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) { static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) {
return in; return in;
@ -323,17 +323,17 @@ struct Reshape<M, N, M, N, InOptions> {
/// Reshape specialization that does transpose /// Reshape specialization that does transpose
template <int M, int N, int InOptions> template <int M, int N, int InOptions>
struct Reshape<N, M, M, N, InOptions> { struct Reshape<N, M, InOptions, M, N, InOptions> {
typedef typename Eigen::Matrix<double, M, N, InOptions>::ConstTransposeReturnType ReshapedType; typedef typename Eigen::Matrix<double, M, N, InOptions>::ConstTransposeReturnType ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) { static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) {
return in.transpose(); return in.transpose();
} }
}; };
template <int OutM, int OutN, int InM, int InN, int InOptions> template <int OutM, int OutN, int OutOptions, int InM, int InN, int InOptions>
inline typename Reshape<OutM, OutN, InM, InN, InOptions>::ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & m){ inline typename Reshape<OutM, OutN, OutOptions, InM, InN, InOptions>::ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & m){
BOOST_STATIC_ASSERT(InM * InN == OutM * OutN); BOOST_STATIC_ASSERT(InM * InN == OutM * OutN);
return Reshape<OutM, OutN, InM, InN, InOptions>::reshape(m); return Reshape<OutM, OutN, OutOptions, InM, InN, InOptions>::reshape(m);
} }
/** /**