Moved meta-programming tests to testExpressionMeta.cpp
dellaert
parent
ef5bf03c81
commit
0a41b0a027
106
.cproject
106
.cproject
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@ -600,7 +600,6 @@
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</target>
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<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -608,7 +607,6 @@
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</target>
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<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBinaryBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -656,7 +654,6 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -664,7 +661,6 @@
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</target>
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<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testSymbolicFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -672,7 +668,6 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -688,7 +683,6 @@
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</target>
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<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1040,7 +1034,6 @@
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</target>
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<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testErrors.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1270,46 +1263,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testBTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSF.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFMap.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testFixedVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1392,6 +1345,7 @@
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</target>
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2DOriented.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1431,6 +1385,7 @@
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</target>
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1438,6 +1393,7 @@
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</target>
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<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated3D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1451,6 +1407,46 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testBTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSF.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFMap.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testFixedVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testEliminationTree.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -1708,7 +1704,6 @@
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</target>
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<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G DEB</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1716,7 +1711,6 @@
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</target>
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<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G RPM</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1724,7 +1718,6 @@
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</target>
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<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G TGZ</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1732,7 +1725,6 @@
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</target>
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<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2459,7 +2451,6 @@
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</target>
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<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2467,7 +2458,6 @@
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</target>
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<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testJunctionTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2475,7 +2465,6 @@
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</target>
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<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNetB.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2561,6 +2550,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testExpressionMeta.run" path="build/gtsam_unstable/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testExpressionMeta.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -2963,6 +2960,7 @@
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</target>
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testGaussianISAM2</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -424,129 +424,6 @@ TEST(ExpressionFactor, composeTernary) {
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EXPECT( assert_equal(expected, *jf,1e-9));
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}
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/* ************************************************************************* */
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namespace mpl = boost::mpl;
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#include <boost/mpl/assert.hpp>
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#include <boost/mpl/equal.hpp>
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template<class T> struct Incomplete;
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// Check generation of FunctionalNode
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typedef mpl::vector<Pose3, Point3> MyTypes;
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typedef FunctionalNode<Point2, MyTypes>::type Generated;
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//Incomplete<Generated> incomplete;
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BOOST_MPL_ASSERT((boost::is_same< Matrix2, Generated::Record::Jacobian2T >));
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// Try generating vectors of ExecutionTrace
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typedef mpl::vector<ExecutionTrace<Pose3>, ExecutionTrace<Point3> > ExpectedTraces;
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typedef mpl::transform<MyTypes, ExecutionTrace<MPL::_1> >::type MyTraces;
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BOOST_MPL_ASSERT((mpl::equal< ExpectedTraces, MyTraces >));
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template<class T>
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struct MakeTrace {
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typedef ExecutionTrace<T> type;
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};
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typedef mpl::transform<MyTypes, MakeTrace<MPL::_1> >::type MyTraces1;
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BOOST_MPL_ASSERT((mpl::equal< ExpectedTraces, MyTraces1 >));
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// Try generating vectors of Expression types
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typedef mpl::vector<Expression<Pose3>, Expression<Point3> > ExpectedExpressions;
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typedef mpl::transform<MyTypes, Expression<MPL::_1> >::type Expressions;
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BOOST_MPL_ASSERT((mpl::equal< ExpectedExpressions, Expressions >));
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// Try generating vectors of Jacobian types
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typedef mpl::vector<Matrix26, Matrix23> ExpectedJacobians;
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typedef mpl::transform<MyTypes, Jacobian<Point2, MPL::_1> >::type Jacobians;
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BOOST_MPL_ASSERT((mpl::equal< ExpectedJacobians, Jacobians >));
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// Try accessing a Jacobian
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typedef mpl::at_c<Jacobians, 1>::type Jacobian23; // base zero !
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BOOST_MPL_ASSERT((boost::is_same< Matrix23, Jacobian23>));
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/* ************************************************************************* */
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// Boost Fusion includes allow us to create/access values from MPL vectors
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#include <boost/fusion/include/mpl.hpp>
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#include <boost/fusion/include/at_c.hpp>
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// Create a value and access it
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TEST(ExpressionFactor, JacobiansValue) {
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using boost::fusion::at_c;
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Matrix23 expected;
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Jacobians jacobians;
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at_c<1>(jacobians) << 1, 2, 3, 4, 5, 6;
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Matrix23 actual = at_c<1>(jacobians);
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CHECK(actual.cols() == expected.cols());
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CHECK(actual.rows() == expected.rows());
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}
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/* ************************************************************************* */
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// Test out polymorphic transform
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#include <boost/fusion/include/make_vector.hpp>
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#include <boost/fusion/include/transform.hpp>
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#include <boost/utility/result_of.hpp>
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struct triple {
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template<class> struct result; // says we will provide result
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template<class F>
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struct result<F(int)> {
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typedef double type; // result for int argument
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};
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template<class F>
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struct result<F(const int&)> {
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typedef double type; // result for int argument
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};
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template<class F>
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struct result<F(const double &)> {
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typedef double type; // result for double argument
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};
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template<class F>
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struct result<F(double)> {
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typedef double type; // result for double argument
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};
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// actual function
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template<typename T>
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typename result<triple(T)>::type operator()(const T& x) const {
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return (double) x;
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}
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};
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TEST(ExpressionFactor, Triple) {
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typedef boost::fusion::vector<int, double> IntDouble;
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IntDouble H = boost::fusion::make_vector(1, 2.0);
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// Only works if I use Double2
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typedef boost::fusion::result_of::transform<IntDouble, triple>::type Result;
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typedef boost::fusion::vector<double, double> Double2;
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Double2 D = boost::fusion::transform(H, triple());
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using boost::fusion::at_c;
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DOUBLES_EQUAL(1.0, at_c<0>(D), 1e-9);
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DOUBLES_EQUAL(2.0, at_c<1>(D), 1e-9);
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}
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/* ************************************************************************* */
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#include <boost/fusion/include/invoke.hpp>
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#include <boost/functional/value_factory.hpp>
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// Test out polymorphic transform
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TEST(ExpressionFactor, Invoke) {
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std::plus<int> add;
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assert(invoke(add,boost::fusion::make_vector(1,1)) == 2);
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// Creating a Pose3 (is there another way?)
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boost::fusion::vector<Rot3, Point3> pair;
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Pose3 pose = boost::fusion::invoke(boost::value_factory<Pose3>(), pair);
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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@ -0,0 +1,158 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testExpressionMeta.cpp
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* @date October 14, 2014
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* @author Frank Dellaert
|
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* @brief Test meta-programming constructs for Expressions
|
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*/
|
||||
|
||||
#include <gtsam_unstable/nonlinear/ExpressionFactor.h>
|
||||
#include <gtsam/geometry/Pose3.h>
|
||||
#include <gtsam/geometry/Cal3_S2.h>
|
||||
#include <gtsam/base/Testable.h>
|
||||
|
||||
#include <CppUnitLite/TestHarness.h>
|
||||
|
||||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
||||
/* ************************************************************************* */
|
||||
namespace mpl = boost::mpl;
|
||||
|
||||
#include <boost/mpl/assert.hpp>
|
||||
#include <boost/mpl/equal.hpp>
|
||||
template<class T> struct Incomplete;
|
||||
|
||||
// Check generation of FunctionalNode
|
||||
typedef mpl::vector<Pose3, Point3> MyTypes;
|
||||
typedef FunctionalNode<Point2, MyTypes>::type Generated;
|
||||
//Incomplete<Generated> incomplete;
|
||||
BOOST_MPL_ASSERT((boost::is_same< Matrix2, Generated::Record::Jacobian2T >));
|
||||
|
||||
// Try generating vectors of ExecutionTrace
|
||||
typedef mpl::vector<ExecutionTrace<Pose3>, ExecutionTrace<Point3> > ExpectedTraces;
|
||||
|
||||
typedef mpl::transform<MyTypes, ExecutionTrace<MPL::_1> >::type MyTraces;
|
||||
BOOST_MPL_ASSERT((mpl::equal< ExpectedTraces, MyTraces >));
|
||||
|
||||
template<class T>
|
||||
struct MakeTrace {
|
||||
typedef ExecutionTrace<T> type;
|
||||
};
|
||||
typedef mpl::transform<MyTypes, MakeTrace<MPL::_1> >::type MyTraces1;
|
||||
BOOST_MPL_ASSERT((mpl::equal< ExpectedTraces, MyTraces1 >));
|
||||
|
||||
// Try generating vectors of Expression types
|
||||
typedef mpl::vector<Expression<Pose3>, Expression<Point3> > ExpectedExpressions;
|
||||
typedef mpl::transform<MyTypes, Expression<MPL::_1> >::type Expressions;
|
||||
BOOST_MPL_ASSERT((mpl::equal< ExpectedExpressions, Expressions >));
|
||||
|
||||
// Try generating vectors of Jacobian types
|
||||
typedef mpl::vector<Matrix26, Matrix23> ExpectedJacobians;
|
||||
typedef mpl::transform<MyTypes, Jacobian<Point2, MPL::_1> >::type Jacobians;
|
||||
BOOST_MPL_ASSERT((mpl::equal< ExpectedJacobians, Jacobians >));
|
||||
|
||||
// Try accessing a Jacobian
|
||||
typedef mpl::at_c<Jacobians, 1>::type Jacobian23; // base zero !
|
||||
BOOST_MPL_ASSERT((boost::is_same< Matrix23, Jacobian23>));
|
||||
|
||||
/* ************************************************************************* */
|
||||
// Boost Fusion includes allow us to create/access values from MPL vectors
|
||||
#include <boost/fusion/include/mpl.hpp>
|
||||
#include <boost/fusion/include/at_c.hpp>
|
||||
|
||||
// Create a value and access it
|
||||
TEST(ExpressionFactor, JacobiansValue) {
|
||||
using boost::fusion::at_c;
|
||||
Matrix23 expected;
|
||||
Jacobians jacobians;
|
||||
|
||||
at_c<1>(jacobians) << 1, 2, 3, 4, 5, 6;
|
||||
|
||||
Matrix23 actual = at_c<1>(jacobians);
|
||||
CHECK(actual.cols() == expected.cols());
|
||||
CHECK(actual.rows() == expected.rows());
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
// Test out polymorphic transform
|
||||
|
||||
#include <boost/fusion/include/make_vector.hpp>
|
||||
#include <boost/fusion/include/transform.hpp>
|
||||
#include <boost/utility/result_of.hpp>
|
||||
|
||||
struct triple {
|
||||
template<class> struct result; // says we will provide result
|
||||
|
||||
template<class F>
|
||||
struct result<F(int)> {
|
||||
typedef double type; // result for int argument
|
||||
};
|
||||
|
||||
template<class F>
|
||||
struct result<F(const int&)> {
|
||||
typedef double type; // result for int argument
|
||||
};
|
||||
|
||||
template<class F>
|
||||
struct result<F(const double &)> {
|
||||
typedef double type; // result for double argument
|
||||
};
|
||||
|
||||
template<class F>
|
||||
struct result<F(double)> {
|
||||
typedef double type; // result for double argument
|
||||
};
|
||||
|
||||
// actual function
|
||||
template<typename T>
|
||||
typename result<triple(T)>::type operator()(const T& x) const {
|
||||
return (double) x;
|
||||
}
|
||||
};
|
||||
|
||||
TEST(ExpressionFactor, Triple) {
|
||||
typedef boost::fusion::vector<int, double> IntDouble;
|
||||
IntDouble H = boost::fusion::make_vector(1, 2.0);
|
||||
|
||||
// Only works if I use Double2
|
||||
typedef boost::fusion::result_of::transform<IntDouble, triple>::type Result;
|
||||
typedef boost::fusion::vector<double, double> Double2;
|
||||
Double2 D = boost::fusion::transform(H, triple());
|
||||
|
||||
using boost::fusion::at_c;
|
||||
DOUBLES_EQUAL(1.0, at_c<0>(D), 1e-9);
|
||||
DOUBLES_EQUAL(2.0, at_c<1>(D), 1e-9);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
#include <boost/fusion/include/invoke.hpp>
|
||||
#include <boost/functional/value_factory.hpp>
|
||||
|
||||
// Test out polymorphic transform
|
||||
TEST(ExpressionFactor, Invoke) {
|
||||
std::plus<int> add;
|
||||
assert(invoke(add,boost::fusion::make_vector(1,1)) == 2);
|
||||
|
||||
// Creating a Pose3 (is there another way?)
|
||||
boost::fusion::vector<Rot3, Point3> pair;
|
||||
Pose3 pose = boost::fusion::invoke(boost::value_factory<Pose3>(), pair);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() {
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
|
||||
Loading…
Reference in New Issue