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Merge pull request #572 from borglab/feature/symbol-alternative-names 

Add alternativeName() for symbols
release/4.3a0
Frank Dellaert 2020-10-24 10:12:56 -04:00 committed by GitHub
parent 29e2339af8 672635aad4
commit 0857dd1474
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 28 additions and 2 deletions
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10
gtsam/inference/Symbol.h
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@ -164,8 +164,16 @@ inline Key Y(std::uint64_t j) { return Symbol('y', j); }
inline Key Z(std::uint64_t j) { return Symbol('z', j); }
}
/** Generates symbol shorthands with alternative names different than the
* one-letter predefined ones. */
class SymbolGenerator {
const char c_;
public:
SymbolGenerator(const char c) : c_(c) {}
Symbol operator()(const std::uint64_t j) const { return Symbol(c_, j); }
};
/// traits
template<> struct traits<Symbol> : public Testable<Symbol> {};
} // \ namespace gtsam

20
gtsam/inference/tests/testKey.cpp
View File

@ -40,6 +40,25 @@ TEST(Key, KeySymbolConversion) {
EXPECT(assert_equal(original, actual))
}
/* ************************************************************************* */
TEST(Key, SymbolGenerator) {
const auto x1 = gtsam::symbol_shorthand::X(1);
const auto v1 = gtsam::symbol_shorthand::V(1);
const auto a1 = gtsam::symbol_shorthand::A(1);
const auto Z = gtsam::SymbolGenerator('x');
const auto DZ = gtsam::SymbolGenerator('v');
const auto DDZ = gtsam::SymbolGenerator('a');
const auto z1 = Z(1);
const auto dz1 = DZ(1);
const auto ddz1 = DDZ(1);
EXPECT(assert_equal(x1, z1));
EXPECT(assert_equal(v1, dz1));
EXPECT(assert_equal(a1, ddz1));
}
/* ************************************************************************* */
template<int KeySize>
Key KeyTestValue();
@ -106,4 +125,3 @@ int main() {
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */