diff --git a/.cproject b/.cproject index 46f9a60fb..24b5f8921 100644 --- a/.cproject +++ b/.cproject @@ -1,5 +1,7 @@ - + + + @@ -451,14 +453,6 @@ true true - - make - -j5 - testVelocityConstraint3.run - true - true - true - make -j5 @@ -619,6 +613,54 @@ true true + + make + -j5 + testPlanarSLAM.run + true + true + true + + + make + -j5 + testPose2SLAM.run + true + true + true + + + make + -j5 + testPose3SLAM.run + true + true + true + + + make + -j5 + testSimulated2D.run + true + true + true + + + make + -j5 + testSimulated2DOriented.run + true + true + true + + + make + -j5 + testVisualSLAM.run + true + true + true + make -j5 @@ -627,18 +669,18 @@ true true - + make -j5 - testGeneralSFMFactor_Cal3Bundler.run + testSerializationSLAM.run true true true - + make -j5 - testSerialization.run + testGeneralSFMFactor_Cal3Bundler.run true true true @@ -795,6 +837,14 @@ true true + + make + -j8 + testImuFactor.run + true + true + true + make -j5 @@ -875,14 +925,6 @@ true true - - make - -j5 - testBayesTreeOperations.run - true - true - true - make -j5 @@ -1115,14 +1157,6 @@ true true - - make - -j5 - testSerializationSLAM.run - true - true - true - make -j5 @@ -1587,14 +1621,6 @@ true true - - make - -j5 - testRot3Q.run - true - true - true - make -j2 @@ -1912,6 +1938,22 @@ true true + + make + -j5 + RangeISAMExample_plaza2.run + true + true + true + + + make + -j4 + testImuFactor.run + true + true + true + make -j2 diff --git a/CppUnitLite/Test.h b/CppUnitLite/Test.h index 52b79f65c..9f97757b6 100644 --- a/CppUnitLite/Test.h +++ b/CppUnitLite/Test.h @@ -60,7 +60,7 @@ protected: /** * Normal test will wrap execution in a try/catch block to catch exceptions more effectively */ -#define TEST(testName, testGroup)\ +#define TEST(testGroup, testName)\ class testGroup##testName##Test : public Test \ { public: testGroup##testName##Test () : Test (#testName "Test", __FILE__, __LINE__, true) {} \ virtual ~testGroup##testName##Test () {};\ @@ -72,7 +72,7 @@ protected: * For debugging only: use TEST_UNSAFE to allow debuggers to have access to exceptions, as this * will not wrap execution with a try/catch block */ -#define TEST_UNSAFE(testName, testGroup)\ +#define TEST_UNSAFE(testGroup, testName)\ class testGroup##testName##Test : public Test \ { public: testGroup##testName##Test () : Test (#testName "Test", __FILE__, __LINE__, false) {} \ virtual ~testGroup##testName##Test () {};\ diff --git a/examples/Data/Plaza1_.mat b/examples/Data/Plaza1_.mat new file mode 100644 index 000000000..806069a8c Binary files /dev/null and b/examples/Data/Plaza1_.mat differ diff --git a/examples/Data/Plaza1_DR.txt b/examples/Data/Plaza1_DR.txt new file mode 100644 index 000000000..b97ec83c5 --- /dev/null +++ b/examples/Data/Plaza1_DR.txt @@ -0,0 +1,9657 @@ + 3.8570532019138336e+003 2.3483858154428326e-004 -5.2000000000163027e-005 + 3.8572534408569336e+003 2.7240746312308210e-004 2.6000000000081510e-005 + 3.8574533009529114e+003 2.3057904745266982e-004 -7.4000000000573607e-005 + 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5.8662150683311602e+001 diff --git a/examples/RangeISAMExample_plaza2.cpp b/examples/RangeISAMExample_plaza2.cpp new file mode 100644 index 000000000..7c3c43272 --- /dev/null +++ b/examples/RangeISAMExample_plaza2.cpp @@ -0,0 +1,207 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file RangeISAMExample_plaza1.cpp + * @brief A 2D Range SLAM example + * @date June 20, 2013 + * @author FRank Dellaert + */ + +// Both relative poses and recovered trajectory poses will be stored as Pose2 objects +#include + +// Each variable in the system (poses and landmarks) must be identified with a unique key. +// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). +// Here we will use Symbols +#include + +// We want to use iSAM2 to solve the range-SLAM problem incrementally +#include + +// iSAM2 requires as input a set set of new factors to be added stored in a factor graph, +// and initial guesses for any new variables used in the added factors +#include +#include + +// We will use a non-liear solver to batch-inituialize from the first 150 frames +#include + +// In GTSAM, measurement functions are represented as 'factors'. Several common factors +// have been provided with the library for solving robotics SLAM problems. +#include +#include +#include + +// Standard headers, added last, so we know headers above work on their own +#include +#include +#include + +using namespace std; +using namespace gtsam; +namespace NM = gtsam::noiseModel; + +// data available at http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/ +// Datafile format (from http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/log.html) + +// load the odometry +// DR: Odometry Input (delta distance traveled and delta heading change) +// Time (sec) Delta Dist. Trav. (m) Delta Heading (rad) +typedef pair TimedOdometry; +list readOdometry() { + list odometryList; + ifstream is("../../examples/Data/Plaza2_DR.txt"); + if (!is) + throw runtime_error("../../examples/Data/Plaza2_DR.txt file not found"); + + while (is) { + double t, distance_traveled, delta_heading; + is >> t >> distance_traveled >> delta_heading; + odometryList.push_back( + TimedOdometry(t, Pose2(distance_traveled, 0, delta_heading))); + } + is.clear(); /* clears the end-of-file and error flags */ + return odometryList; +} + +// load the ranges from TD +// Time (sec) Sender / Antenna ID Receiver Node ID Range (m) +typedef boost::tuple RangeTriple; +vector readTriples() { + vector triples; + ifstream is("../../examples/Data/Plaza2_TD.txt"); + if (!is) + throw runtime_error("../../examples/Data/Plaza2_TD.txt file not found"); + + while (is) { + double t, sender, receiver, range; + is >> t >> sender >> receiver >> range; + triples.push_back(RangeTriple(t, receiver, range)); + } + is.clear(); /* clears the end-of-file and error flags */ + return triples; +} + +// main +int main (int argc, char** argv) { + + // load Plaza2 data + list odometry = readOdometry(); +// size_t M = odometry.size(); + + vector triples = readTriples(); + size_t K = triples.size(); + + // parameters + size_t minK = 150; // minimum number of range measurements to process initially + size_t incK = 25; // minimum number of range measurements to process after + bool groundTruth = false; + bool robust = true; + + // Set Noise parameters + Vector priorSigmas = Vector3(1,1,M_PI); + Vector odoSigmas = Vector3(0.05, 0.01, 0.2); + double sigmaR = 100; // range standard deviation + const NM::Base::shared_ptr // all same type + priorNoise = NM::Diagonal::Sigmas(priorSigmas), //prior + odoNoise = NM::Diagonal::Sigmas(odoSigmas), // odometry + gaussian = NM::Isotropic::Sigma(1, sigmaR), // non-robust + tukey = NM::Robust::Create(NM::mEstimator::Tukey::Create(15), gaussian), //robust + rangeNoise = robust ? tukey : gaussian; + + // Initialize iSAM + ISAM2 isam; + + // Add prior on first pose + Pose2 pose0 = Pose2(-34.2086489999201, 45.3007639991120, + M_PI - 2.02108900000000); + NonlinearFactorGraph newFactors; + newFactors.add(PriorFactor(0, pose0, priorNoise)); + Values initial; + initial.insert(0, pose0); + + // initialize points + if (groundTruth) { // from TL file + initial.insert(symbol('L', 1), Point2(-68.9265, 18.3778)); + initial.insert(symbol('L', 6), Point2(-37.5805, 69.2278)); + initial.insert(symbol('L', 0), Point2(-33.6205, 26.9678)); + initial.insert(symbol('L', 5), Point2(1.7095, -5.8122)); + } else { // drawn from sigma=1 Gaussian in matlab version + initial.insert(symbol('L', 1), Point2(3.5784, 2.76944)); + initial.insert(symbol('L', 6), Point2(-1.34989, 3.03492)); + initial.insert(symbol('L', 0), Point2(0.725404, -0.0630549)); + initial.insert(symbol('L', 5), Point2(0.714743, -0.204966)); + } + + // set some loop variables + size_t i = 1; // step counter + size_t k = 0; // range measurement counter + bool initialized = false; + Pose2 lastPose = pose0; + size_t countK = 0; + + // Loop over odometry + gttic_(iSAM); + BOOST_FOREACH(const TimedOdometry& timedOdometry, odometry) { + //--------------------------------- odometry loop ----------------------------------------- + double t; + Pose2 odometry; + boost::tie(t, odometry) = timedOdometry; + + // add odometry factor + newFactors.add(BetweenFactor(i-1, i, odometry,NM::Diagonal::Sigmas(odoSigmas))); + + // predict pose and add as initial estimate + Pose2 predictedPose = lastPose.compose(odometry); + lastPose = predictedPose; + initial.insert(i, predictedPose); + + // Check if there are range factors to be added + while (k < K && t >= boost::get<0>(triples[k])) { + size_t j = boost::get<1>(triples[k]); + double range = boost::get<2>(triples[k]); + newFactors.add(RangeFactor(i, symbol('L', j), range,rangeNoise)); + k = k + 1; + countK = countK + 1; + } + + // Check whether to update iSAM 2 + if ((k > minK) && (countK > incK)) { + if (!initialized) { // Do a full optimize for first minK ranges + gttic_(batchInitialization); + LevenbergMarquardtOptimizer batchOptimizer(newFactors, initial); + initial = batchOptimizer.optimize(); + gttoc_(batchInitialization); + initialized = true; + } + gttic_(update); + isam.update(newFactors, initial); + gttoc_(update); + gttic_(calculateEstimate); + Values result = isam.calculateEstimate(); + gttoc_(calculateEstimate); + lastPose = result.at(i); + newFactors = NonlinearFactorGraph(); + initial = Values(); + countK = 0; + } + i += 1; + //--------------------------------- odometry loop ----------------------------------------- + } // BOOST_FOREACH + gttoc_(iSAM); + + // Print timings + tictoc_print_(); + + exit(0); +} + diff --git a/examples/VisualISAM2Example.cpp b/examples/VisualISAM2Example.cpp index 1485da1e4..f27664cfe 100644 --- a/examples/VisualISAM2Example.cpp +++ b/examples/VisualISAM2Example.cpp @@ -36,13 +36,6 @@ // Here we will use Symbols #include -// In GTSAM, measurement functions are represented as 'factors'. Several common factors -// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. -// Here we will use Projection factors to model the camera's landmark observations. -// Also, we will initialize the robot at some location using a Prior factor. -#include -#include - // We want to use iSAM2 to solve the structure-from-motion problem incrementally, so // include iSAM2 here #include @@ -52,6 +45,13 @@ #include #include +// In GTSAM, measurement functions are represented as 'factors'. Several common factors +// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. +// Here we will use Projection factors to model the camera's landmark observations. +// Also, we will initialize the robot at some location using a Prior factor. +#include +#include + #include using namespace std; diff --git a/gtsam.h b/gtsam.h index 45c701ee1..33d26d939 100644 --- a/gtsam.h +++ b/gtsam.h @@ -76,6 +76,18 @@ * - When forward-declaring template instantiations, use the generated/typedefed name, e.g. * class gtsam::Class1Pose2; * class gtsam::MyInstantiatedClass; + * Boost.serialization within Matlab: + * - you need to mark classes as being serializable in the markup file (see this file for an example). + * - There are two options currently, depending on the class. To "mark" a class as serializable, + * add a function with a particular signature so that wrap will catch it. + * - Add "void serialize()" to a class to create serialization functions for a class. + * Adding this flag subsumes the serializable() flag below. Requirements: + * - A default constructor must be publicly accessible + * - Must not be an abstract base class + * - The class must have an actual boost.serialization serialize() function. + * - Add "void serializable()" to a class if you only want the class to be serialized as a + * part of a container (such as noisemodel). This version does not require a publicly + * accessible default constructor. */ /** @@ -200,6 +212,9 @@ virtual class LieVector : gtsam::Value { // Lie group static gtsam::LieVector Expmap(Vector v); static Vector Logmap(const gtsam::LieVector& p); + + // enabling serialization functionality + void serialize() const; }; #include @@ -229,6 +244,9 @@ virtual class LieMatrix : gtsam::Value { // Lie group static gtsam::LieMatrix Expmap(Vector v); static Vector Logmap(const gtsam::LieMatrix& p); + + // enabling serialization functionality + void serialize() const; }; //************************************************************************* @@ -267,6 +285,9 @@ virtual class Point2 : gtsam::Value { Vector vector() const; double dist(const gtsam::Point2& p2) const; double norm() const; + + // enabling serialization functionality + void serialize() const; }; virtual class StereoPoint2 : gtsam::Value { @@ -296,6 +317,9 @@ virtual class StereoPoint2 : gtsam::Value { // Standard Interface Vector vector() const; + + // enabling serialization functionality + void serialize() const; }; virtual class Point3 : gtsam::Value { @@ -329,6 +353,9 @@ virtual class Point3 : gtsam::Value { double x() const; double y() const; double z() const; + + // enabling serialization functionality + void serialize() const; }; virtual class Rot2 : gtsam::Value { @@ -371,6 +398,9 @@ virtual class Rot2 : gtsam::Value { double c() const; double s() const; Matrix matrix() const; + + // enabling serialization functionality + void serialize() const; }; virtual class Rot3 : gtsam::Value { @@ -424,11 +454,15 @@ virtual class Rot3 : gtsam::Value { double yaw() const; // Vector toQuaternion() const; // FIXME: Can't cast to Vector properly Vector quaternion() const; + + // enabling serialization functionality + void serialize() const; }; virtual class Pose2 : gtsam::Value { // Standard Constructor Pose2(); + Pose2(const gtsam::Pose2& pose); Pose2(double x, double y, double theta); Pose2(double theta, const gtsam::Point2& t); Pose2(const gtsam::Rot2& r, const gtsam::Point2& t); @@ -470,6 +504,9 @@ virtual class Pose2 : gtsam::Value { gtsam::Point2 translation() const; gtsam::Rot2 rotation() const; Matrix matrix() const; + + // enabling serialization functionality + void serialize() const; }; virtual class Pose3 : gtsam::Value { @@ -518,6 +555,9 @@ virtual class Pose3 : gtsam::Value { gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to() double range(const gtsam::Point3& point); double range(const gtsam::Pose3& pose); + + // enabling serialization functionality + void serialize() const; }; virtual class Cal3_S2 : gtsam::Value { @@ -551,6 +591,9 @@ virtual class Cal3_S2 : gtsam::Value { Vector vector() const; Matrix matrix() const; Matrix matrix_inverse() const; + + // enabling serialization functionality + void serialize() const; }; #include @@ -585,6 +628,9 @@ virtual class Cal3DS2 : gtsam::Value { Vector vector() const; Vector k() const; //Matrix K() const; //FIXME: Uppercase + + // enabling serialization functionality + void serialize() const; }; class Cal3_S2Stereo { @@ -634,6 +680,9 @@ virtual class CalibratedCamera : gtsam::Value { // Standard Interface gtsam::Pose3 pose() const; double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods + + // enabling serialization functionality + void serialize() const; }; virtual class SimpleCamera : gtsam::Value { @@ -669,6 +718,9 @@ virtual class SimpleCamera : gtsam::Value { gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; double range(const gtsam::Point3& point); double range(const gtsam::Pose3& point); + + // enabling serialization functionality + void serialize() const; }; template @@ -705,6 +757,9 @@ virtual class PinholeCamera : gtsam::Value { gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; double range(const gtsam::Point3& point); double range(const gtsam::Pose3& point); + + // enabling serialization functionality + void serialize() const; }; //************************************************************************* @@ -988,6 +1043,9 @@ virtual class Gaussian : gtsam::noiseModel::Base { Matrix R() const; bool equals(gtsam::noiseModel::Base& expected, double tol); void print(string s) const; + + // enabling serialization functionality + void serializable() const; }; virtual class Diagonal : gtsam::noiseModel::Gaussian { @@ -996,6 +1054,9 @@ virtual class Diagonal : gtsam::noiseModel::Gaussian { static gtsam::noiseModel::Diagonal* Precisions(Vector precisions); Matrix R() const; void print(string s) const; + + // enabling serialization functionality + void serializable() const; }; virtual class Constrained : gtsam::noiseModel::Diagonal { @@ -1010,6 +1071,9 @@ virtual class Constrained : gtsam::noiseModel::Diagonal { static gtsam::noiseModel::Constrained* All(size_t dim, double mu); gtsam::noiseModel::Constrained* unit() const; + + // enabling serialization functionality + void serializable() const; }; virtual class Isotropic : gtsam::noiseModel::Diagonal { @@ -1017,11 +1081,17 @@ virtual class Isotropic : gtsam::noiseModel::Diagonal { static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace); static gtsam::noiseModel::Isotropic* Precision(size_t dim, double precision); void print(string s) const; + + // enabling serialization functionality + void serializable() const; }; virtual class Unit : gtsam::noiseModel::Isotropic { static gtsam::noiseModel::Unit* Create(size_t dim); void print(string s) const; + + // enabling serialization functionality + void serializable() const; }; namespace mEstimator { @@ -1032,24 +1102,36 @@ virtual class Null: gtsam::noiseModel::mEstimator::Base { Null(); void print(string s) const; static gtsam::noiseModel::mEstimator::Null* Create(); + + // enabling serialization functionality + void serializable() const; }; virtual class Fair: gtsam::noiseModel::mEstimator::Base { Fair(double c); void print(string s) const; static gtsam::noiseModel::mEstimator::Fair* Create(double c); + + // enabling serialization functionality + void serializable() const; }; virtual class Huber: gtsam::noiseModel::mEstimator::Base { Huber(double k); void print(string s) const; static gtsam::noiseModel::mEstimator::Huber* Create(double k); + + // enabling serialization functionality + void serializable() const; }; virtual class Tukey: gtsam::noiseModel::mEstimator::Base { Tukey(double k); void print(string s) const; static gtsam::noiseModel::mEstimator::Tukey* Create(double k); + + // enabling serialization functionality + void serializable() const; }; }///\namespace mEstimator @@ -1058,6 +1140,9 @@ virtual class Robust : gtsam::noiseModel::Base { Robust(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise); static gtsam::noiseModel::Robust* Create(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise); void print(string s) const; + + // enabling serialization functionality + void serializable() const; }; }///\namespace noiseModel @@ -1112,6 +1197,9 @@ class VectorValues { bool hasSameStructure(const gtsam::VectorValues& other) const; double dot(const gtsam::VectorValues& V) const; double norm() const; + + // enabling serialization functionality + void serialize() const; }; class GaussianConditional { @@ -1134,6 +1222,9 @@ class GaussianConditional { void solveInPlace(gtsam::VectorValues& x) const; void solveTransposeInPlace(gtsam::VectorValues& gy) const; void scaleFrontalsBySigma(gtsam::VectorValues& gy) const; + + // enabling serialization functionality + void serialize() const; }; class GaussianDensity { @@ -1180,6 +1271,15 @@ virtual class GaussianBayesTree : gtsam::GaussianBayesTreeBase { GaussianBayesTree(); GaussianBayesTree(const gtsam::GaussianBayesNet& bn); GaussianBayesTree(const gtsam::GaussianBayesNet& other); + bool equals(const gtsam::GaussianBayesTree& other, double tol) const; + void print(string s); + size_t size() const; + size_t nrNodes() const; + bool empty() const; + gtsam::GaussianBayesTreeClique* root() const; + gtsam::GaussianBayesTreeClique* clique(size_t j) const; + size_t numCachedSeparatorMarginals() const; + void saveGraph(string s) const; }; // namespace functions for GaussianBayesTree @@ -1244,6 +1344,9 @@ virtual class JacobianFactor : gtsam::GaussianFactor { void assertInvariants() const; //gtsam::SharedDiagonal& get_model(); + + // enabling serialization functionality + void serialize() const; }; virtual class HessianFactor : gtsam::GaussianFactor { @@ -1277,6 +1380,9 @@ virtual class HessianFactor : gtsam::GaussianFactor { void partialCholesky(size_t nrFrontals); gtsam::GaussianConditional* splitEliminatedFactor(size_t nrFrontals); void assertInvariants() const; + + // enabling serialization functionality + void serialize() const; }; class GaussianFactorGraph { @@ -1323,6 +1429,9 @@ class GaussianFactorGraph { pair jacobian() const; Matrix augmentedHessian() const; pair hessian() const; + + // enabling serialization functionality + void serialize() const; }; //Non-Class functions in GaussianFactorGraph.h @@ -1502,6 +1611,9 @@ class Ordering { void push_back(size_t key); void permuteInPlace(const gtsam::Permutation& permutation); void permuteInPlace(const gtsam::Permutation& selector, const gtsam::Permutation& permutation); + + // enabling serialization functionality + void serialize() const; }; class NonlinearFactorGraph { @@ -1529,22 +1641,34 @@ class NonlinearFactorGraph { const gtsam::Ordering& ordering) const; gtsam::SymbolicFactorGraph* symbolic(const gtsam::Ordering& ordering) const; gtsam::NonlinearFactorGraph clone() const; + + // enabling serialization functionality + void serialize() const; }; virtual class NonlinearFactor { + // Factor base class + size_t size() const; + gtsam::KeyVector keys() const; void print(string s) const; void printKeys(string s) const; + // NonlinearFactor void equals(const gtsam::NonlinearFactor& other, double tol) const; - gtsam::KeyVector keys() const; - size_t size() const; - size_t dim() const; double error(const gtsam::Values& c) const; + size_t dim() const; bool active(const gtsam::Values& c) const; gtsam::GaussianFactor* linearize(const gtsam::Values& c, const gtsam::Ordering& ordering) const; gtsam::NonlinearFactor* clone() const; // gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen }; +virtual class NoiseModelFactor: gtsam::NonlinearFactor { + void equals(const gtsam::NoiseModelFactor& other, double tol) const; + gtsam::noiseModel::Base* get_noiseModel() const; + Vector unwhitenedError(const gtsam::Values& x) const; + Vector whitenedError(const gtsam::Values& x) const; +}; + #include class Values { Values(); @@ -1552,29 +1676,32 @@ class Values { size_t size() const; bool empty() const; - void clear(); - size_t dim() const; + void clear(); + size_t dim() const; void print(string s) const; bool equals(const gtsam::Values& other, double tol) const; void insert(size_t j, const gtsam::Value& value); - void insert(const gtsam::Values& values); - void update(size_t j, const gtsam::Value& val); - void update(const gtsam::Values& values); - void erase(size_t j); - void swap(gtsam::Values& values); + void insert(const gtsam::Values& values); + void update(size_t j, const gtsam::Value& val); + void update(const gtsam::Values& values); + void erase(size_t j); + void swap(gtsam::Values& values); bool exists(size_t j) const; gtsam::Value at(size_t j) const; gtsam::KeyList keys() const; - gtsam::VectorValues zeroVectors(const gtsam::Ordering& ordering) const; - gtsam::Ordering* orderingArbitrary(size_t firstVar) const; + gtsam::VectorValues zeroVectors(const gtsam::Ordering& ordering) const; + gtsam::Ordering* orderingArbitrary(size_t firstVar) const; - gtsam::Values retract(const gtsam::VectorValues& delta, const gtsam::Ordering& ordering) const; - gtsam::VectorValues localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering) const; - void localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering, gtsam::VectorValues& delta) const; + gtsam::Values retract(const gtsam::VectorValues& delta, const gtsam::Ordering& ordering) const; + gtsam::VectorValues localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering) const; + void localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering, gtsam::VectorValues& delta) const; + + // enabling serialization functionality + void serialize() const; }; // Actually a FastList @@ -1691,6 +1818,8 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor { static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, const gtsam::Ordering& ordering); + // enabling serialization functionality + void serializable() const; }; // \class LinearContainerFactor // Summarization functionality @@ -1961,37 +2090,43 @@ class NonlinearISAM { #include template -virtual class PriorFactor : gtsam::NonlinearFactor { +virtual class PriorFactor : gtsam::NoiseModelFactor { PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); T prior() const; - gtsam::noiseModel::Base* get_noiseModel() const; + + // enabling serialization functionality + void serialize() const; }; #include template -virtual class BetweenFactor : gtsam::NonlinearFactor { +virtual class BetweenFactor : gtsam::NoiseModelFactor { BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel); T measured() const; - gtsam::noiseModel::Base* get_noiseModel() const; + + // enabling serialization functionality + void serialize() const; }; #include template -virtual class NonlinearEquality : gtsam::NonlinearFactor { +virtual class NonlinearEquality : gtsam::NoiseModelFactor { // Constructor - forces exact evaluation NonlinearEquality(size_t j, const T& feasible); // Constructor - allows inexact evaluation NonlinearEquality(size_t j, const T& feasible, double error_gain); + + // enabling serialization functionality + void serialize() const; }; #include template -virtual class RangeFactor : gtsam::NonlinearFactor { +virtual class RangeFactor : gtsam::NoiseModelFactor { RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); - gtsam::noiseModel::Base* get_noiseModel() const; }; typedef gtsam::RangeFactor RangeFactorPosePoint2; @@ -2006,9 +2141,11 @@ typedef gtsam::RangeFactor RangeFactor #include template -virtual class BearingFactor : gtsam::NonlinearFactor { +virtual class BearingFactor : gtsam::NoiseModelFactor { BearingFactor(size_t key1, size_t key2, const ROTATION& measured, const gtsam::noiseModel::Base* noiseModel); - gtsam::noiseModel::Base* get_noiseModel() const; + + // enabling serialization functionality + void serialize() const; }; typedef gtsam::BearingFactor BearingFactor2D; @@ -2016,9 +2153,11 @@ typedef gtsam::BearingFactor BearingFa #include template -virtual class BearingRangeFactor : gtsam::NonlinearFactor { +virtual class BearingRangeFactor : gtsam::NoiseModelFactor { BearingRangeFactor(size_t poseKey, size_t pointKey, const ROTATION& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel); - gtsam::noiseModel::Base* get_noiseModel() const; + + // enabling serialization functionality + void serialize() const; }; typedef gtsam::BearingRangeFactor BearingRangeFactor2D; @@ -2026,7 +2165,7 @@ typedef gtsam::BearingRangeFactor Bear #include template -virtual class GenericProjectionFactor : gtsam::NonlinearFactor { +virtual class GenericProjectionFactor : gtsam::NoiseModelFactor { GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel, size_t poseKey, size_t pointKey, const CALIBRATION* k); GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel, @@ -2042,7 +2181,9 @@ virtual class GenericProjectionFactor : gtsam::NonlinearFactor { CALIBRATION* calibration() const; bool verboseCheirality() const; bool throwCheirality() const; - gtsam::noiseModel::Base* get_noiseModel() const; + + // enabling serialization functionality + void serialize() const; }; typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3_S2; typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3DS2; @@ -2050,7 +2191,7 @@ typedef gtsam::GenericProjectionFactor template -virtual class GeneralSFMFactor : gtsam::NonlinearFactor { +virtual class GeneralSFMFactor : gtsam::NoiseModelFactor { GeneralSFMFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t cameraKey, size_t landmarkKey); gtsam::Point2 measured() const; }; @@ -2058,28 +2199,32 @@ typedef gtsam::GeneralSFMFactor GeneralSFMFa typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3DS2; template -virtual class GeneralSFMFactor2 : gtsam::NonlinearFactor { +virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor { GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey); gtsam::Point2 measured() const; + + // enabling serialization functionality + void serialize() const; }; #include template -virtual class GenericStereoFactor : gtsam::NonlinearFactor { +virtual class GenericStereoFactor : gtsam::NoiseModelFactor { GenericStereoFactor(const gtsam::StereoPoint2& measured, const gtsam::noiseModel::Base* noiseModel, size_t poseKey, size_t landmarkKey, const gtsam::Cal3_S2Stereo* K); gtsam::StereoPoint2 measured() const; gtsam::Cal3_S2Stereo* calibration() const; - gtsam::noiseModel::Base* get_noiseModel() const; + + // enabling serialization functionality + void serialize() const; }; typedef gtsam::GenericStereoFactor GenericStereoFactor3D; #include template -virtual class PoseTranslationPrior : gtsam::NonlinearFactor { +virtual class PoseTranslationPrior : gtsam::NoiseModelFactor { PoseTranslationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel); - gtsam::noiseModel::Base* get_noiseModel() const; }; typedef gtsam::PoseTranslationPrior PoseTranslationPrior2D; @@ -2087,9 +2232,8 @@ typedef gtsam::PoseTranslationPrior PoseTranslationPrior3D; #include template -virtual class PoseRotationPrior : gtsam::NonlinearFactor { +virtual class PoseRotationPrior : gtsam::NoiseModelFactor { PoseRotationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel); - gtsam::noiseModel::Base* get_noiseModel() const; }; typedef gtsam::PoseRotationPrior PoseRotationPrior2D; @@ -2107,51 +2251,6 @@ pair load2D(string filename, pair load2D_robust(string filename, gtsam::noiseModel::Base* model); -//************************************************************************* -// Serialization -//************************************************************************* -#include - -// Serialize/Deserialize a NonlinearFactorGraph -string serializeGraph(const gtsam::NonlinearFactorGraph& graph); - -gtsam::NonlinearFactorGraph* deserializeGraph(string serialized_graph); - -string serializeGraphXML(const gtsam::NonlinearFactorGraph& graph); -string serializeGraphXML(const gtsam::NonlinearFactorGraph& graph, string name); - -gtsam::NonlinearFactorGraph* deserializeGraphXML(string serialized_graph); -gtsam::NonlinearFactorGraph* deserializeGraphXML(string serialized_graph, string name); - -// Serialize/Deserialize a Values -string serializeValues(const gtsam::Values& values); - -gtsam::Values* deserializeValues(string serialized_values); - -string serializeValuesXML(const gtsam::Values& values); -string serializeValuesXML(const gtsam::Values& values, string name); - -gtsam::Values* deserializeValuesXML(string serialized_values); -gtsam::Values* deserializeValuesXML(string serialized_values, string name); - -// Serialize -bool serializeGraphToFile(const gtsam::NonlinearFactorGraph& graph, string fname); -bool serializeGraphToXMLFile(const gtsam::NonlinearFactorGraph& graph, string fname); -bool serializeGraphToXMLFile(const gtsam::NonlinearFactorGraph& graph, string fname, string name); - -bool serializeValuesToFile(const gtsam::Values& values, string fname); -bool serializeValuesToXMLFile(const gtsam::Values& values, string fname); -bool serializeValuesToXMLFile(const gtsam::Values& values, string fname, string name); - -// Deserialize -gtsam::NonlinearFactorGraph* deserializeGraphFromFile(string fname); -gtsam::NonlinearFactorGraph* deserializeGraphFromXMLFile(string fname); -gtsam::NonlinearFactorGraph* deserializeGraphFromXMLFile(string fname, string name); - -gtsam::Values* deserializeValuesFromFile(string fname); -gtsam::Values* deserializeValuesFromXMLFile(string fname); -gtsam::Values* deserializeValuesFromXMLFile(string fname, string name); - //************************************************************************* // Utilities //************************************************************************* diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index d60a73065..a1ae94f9a 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -33,11 +33,13 @@ endif() # To exclude a source from the library build (in any subfolder) # Add the full name to this list, as in the following example # Sources to remove from builds -set (excluded_sources "") -# "${CMAKE_CURRENT_SOURCE_DIR}/discrete/TypedDiscreteFactor.cpp" -# "${CMAKE_CURRENT_SOURCE_DIR}/discrete/TypedDiscreteFactorGraph.cpp" -# "${CMAKE_CURRENT_SOURCE_DIR}/discrete/parseUAI.cpp" -# "${CMAKE_CURRENT_SOURCE_DIR}/discrete/PotentialTable.cpp") +set (excluded_sources #"") + "${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.cpp" +) + +set (excluded_headers #"") + "${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h" +) if(GTSAM_USE_QUATERNIONS) set(excluded_sources ${excluded_sources} "${CMAKE_CURRENT_SOURCE_DIR}/geometry/Rot3M.cpp") @@ -54,9 +56,10 @@ foreach(subdir ${gtsam_subdirs}) # Build convenience libraries file(GLOB subdir_cpp_srcs "${subdir}/*.cpp") file(GLOB subdir_headers "${subdir}/*.h") + list(REMOVE_ITEM subdir_cpp_srcs ${excluded_sources}) + list(REMOVE_ITEM subdir_headers ${excluded_headers}) set(subdir_srcs ${subdir_cpp_srcs} ${subdir_headers}) # Include header files so they show up in Visual Studio gtsam_assign_source_folders("${subdir_srcs}") # Create MSVC structure - list(REMOVE_ITEM subdir_srcs ${excluded_sources}) set(${subdir}_srcs ${subdir_srcs}) if (GTSAM_BUILD_CONVENIENCE_LIBRARIES AND (subdir_cpp_srcs)) # Only build convenience library if sources exist message(STATUS "Building Convenience Library: ${subdir}") diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h index 2ebb63f47..2c6066042 100644 --- a/gtsam/base/Vector.h +++ b/gtsam/base/Vector.h @@ -34,6 +34,7 @@ namespace gtsam { typedef Eigen::VectorXd Vector; // Commonly used fixed size vectors +typedef Eigen::Vector2d Vector2; typedef Eigen::Vector3d Vector3; typedef Eigen::Matrix Vector6; @@ -373,7 +374,21 @@ namespace boost { ar >> make_nvp("data", make_array(v.data(), v.size())); } + // split version - copies into an STL vector for serialization + template + void save(Archive & ar, const Eigen::Matrix & v, unsigned int version) { + ar << make_nvp("data", make_array(v.data(), v.RowsAtCompileTime)); + } + + template + void load(Archive & ar, Eigen::Matrix & v, unsigned int version) { + ar >> make_nvp("data", make_array(v.data(), v.RowsAtCompileTime)); + } + } // namespace serialization } // namespace boost BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector) +BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector2) +BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector3) +BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector6) diff --git a/gtsam/base/tests/testSerializationBase.cpp b/gtsam/base/tests/testSerializationBase.cpp index 3bb88f759..30b7cd2f3 100644 --- a/gtsam/base/tests/testSerializationBase.cpp +++ b/gtsam/base/tests/testSerializationBase.cpp @@ -85,12 +85,21 @@ TEST (Serialization, FastVector) { /* ************************************************************************* */ TEST (Serialization, matrix_vector) { EXPECT(equality(Vector_(4, 1.0, 2.0, 3.0, 4.0))); + EXPECT(equality(Vector2(1.0, 2.0))); + EXPECT(equality(Vector3(1.0, 2.0, 3.0))); + EXPECT(equality((Vector6() << 1.0, 2.0, 3.0, 4.0, 5.0, 6.0).finished())); EXPECT(equality(Matrix_(2, 2, 1.0, 2.0, 3.0, 4.0))); EXPECT(equalityXML(Vector_(4, 1.0, 2.0, 3.0, 4.0))); + EXPECT(equalityXML(Vector2(1.0, 2.0))); + EXPECT(equalityXML(Vector3(1.0, 2.0, 3.0))); + EXPECT(equalityXML((Vector6() << 1.0, 2.0, 3.0, 4.0, 5.0, 6.0).finished())); EXPECT(equalityXML(Matrix_(2, 2, 1.0, 2.0, 3.0, 4.0))); EXPECT(equalityBinary(Vector_(4, 1.0, 2.0, 3.0, 4.0))); + EXPECT(equalityBinary(Vector2(1.0, 2.0))); + EXPECT(equalityBinary(Vector3(1.0, 2.0, 3.0))); + EXPECT(equalityBinary((Vector6() << 1.0, 2.0, 3.0, 4.0, 5.0, 6.0).finished())); EXPECT(equalityBinary(Matrix_(2, 2, 1.0, 2.0, 3.0, 4.0))); } diff --git a/gtsam/geometry/Point2.cpp b/gtsam/geometry/Point2.cpp index 27a962e70..6f219b9db 100644 --- a/gtsam/geometry/Point2.cpp +++ b/gtsam/geometry/Point2.cpp @@ -17,6 +17,8 @@ #include #include +#include +#include using namespace std; @@ -25,6 +27,8 @@ namespace gtsam { /** Explicit instantiation of base class to export members */ INSTANTIATE_LIE(Point2); +static const Matrix oneOne = Matrix_(1, 2, 1.0, 1.0); + /* ************************************************************************* */ void Point2::print(const string& s) const { cout << s << *this << endl; @@ -36,8 +40,107 @@ bool Point2::equals(const Point2& q, double tol) const { } /* ************************************************************************* */ -double Point2::norm() const { - return sqrt(x_*x_ + y_*y_); +double Point2::norm(boost::optional H) const { + double r = sqrt(x_ * x_ + y_ * y_); + if (H) { + Matrix D_result_d; + if (fabs(r) > 1e-10) + D_result_d = Matrix_(1, 2, x_ / r, y_ / r); + else + D_result_d = oneOne; // TODO: really infinity, why 1 here?? + *H = D_result_d; + } + return r; +} + +/* ************************************************************************* */ +static const Matrix I2 = eye(2); +double Point2::distance(const Point2& point, boost::optional H1, + boost::optional H2) const { + Point2 d = point - *this; + if (H1 || H2) { + Matrix H; + double r = d.norm(H); + if (H1) *H1 = -H; + if (H2) *H2 = H; + return r; + } else + return d.norm(); +} + +/* + * Calculate f and h, respectively the parallel and perpendicular distance of + * the intersections of two circles along and from the line connecting the centers. + * Both are dimensionless fractions of the distance d between the circle centers. + * If the circles do not intersect or they are identical, returns boost::none. + * If one solution (touching circles, as determined by tol), h will be exactly zero. + * h is a good measure for how accurate the intersection will be, as when circles touch + * or nearly touch, the intersection is ill-defined with noisy radius measurements. + * @param R_d : R/d, ratio of radius of first circle to distance between centers + * @param r_d : r/d, ratio of radius of second circle to distance between centers + * @param tol: absolute tolerance below which we consider touching circles + */ +/* ************************************************************************* */ +// Math inspired by http://paulbourke.net/geometry/circlesphere/ +boost::optional Point2::CircleCircleIntersection(double R_d, double r_d, + double tol) { + + double R2_d2 = R_d*R_d; // Yes, RD-D2 ! + double f = 0.5 + 0.5*(R2_d2 - r_d*r_d); + double h2 = R2_d2 - f*f; // just right triangle rule + + // h^2<0 is equivalent to (d > (R + r) || d < (R - r)) + // Hence, there are only solutions if >=0 + if (h2<-tol) return boost::none; // allow *slightly* negative + else if (h2 Point2::CircleCircleIntersection(Point2 c1, Point2 c2, + boost::optional fh) { + + list solutions; + // If fh==boost::none, there are no solutions, i.e., d > (R + r) || d < (R - r) + if (fh) { + // vector between circle centers + Point2 c12 = c2-c1; + + // Determine p2, the point where the line through the circle + // intersection points crosses the line between the circle centers. + Point2 p2 = c1 + fh->x() * c12; + + // If h == 0, the circles are touching, so just return one point + if (fh->y()==0.0) + solutions.push_back(p2); + else { + // determine the offsets of the intersection points from p + Point2 offset = fh->y() * Point2(-c12.y(), c12.x()); + + // Determine the absolute intersection points. + solutions.push_back(p2 + offset); + solutions.push_back(p2 - offset); + } + } + return solutions; +} + +/* ************************************************************************* */ +list Point2::CircleCircleIntersection(Point2 c1, double r1, Point2 c2, + double r2, double tol) { + + // distance between circle centers. + double d = c1.dist(c2); + + // centers coincide, either no solution or infinite number of solutions. + if (d<1e-9) return list(); + + // Calculate f and h given normalized radii + double _d = 1.0/d, R_d = r1*_d, r_d=r2*_d; + boost::optional fh = CircleCircleIntersection(R_d,r_d); + + // Call version that takes fh + return CircleCircleIntersection(c1, c2, fh); } /* ************************************************************************* */ diff --git a/gtsam/geometry/Point2.h b/gtsam/geometry/Point2.h index 74ea16638..73f0b83f6 100644 --- a/gtsam/geometry/Point2.h +++ b/gtsam/geometry/Point2.h @@ -65,6 +65,43 @@ public: y_ = v(1); } + /* + * @brief Circle-circle intersection, given normalized radii. + * Calculate f and h, respectively the parallel and perpendicular distance of + * the intersections of two circles along and from the line connecting the centers. + * Both are dimensionless fractions of the distance d between the circle centers. + * If the circles do not intersect or they are identical, returns boost::none. + * If one solution (touching circles, as determined by tol), h will be exactly zero. + * h is a good measure for how accurate the intersection will be, as when circles touch + * or nearly touch, the intersection is ill-defined with noisy radius measurements. + * @param R_d : R/d, ratio of radius of first circle to distance between centers + * @param r_d : r/d, ratio of radius of second circle to distance between centers + * @param tol: absolute tolerance below which we consider touching circles + * @return optional Point2 with f and h, boost::none if no solution. + */ + static boost::optional CircleCircleIntersection(double R_d, double r_d, + double tol = 1e-9); + + /* + * @brief Circle-circle intersection, from the normalized radii solution. + * @param c1 center of first circle + * @param c2 center of second circle + * @return list of solutions (0,1, or 2). Identical circles will return empty list, as well. + */ + static std::list CircleCircleIntersection(Point2 c1, Point2 c2, boost::optional); + + /** + * @brief Intersect 2 circles + * @param c1 center of first circle + * @param r1 radius of first circle + * @param c2 center of second circle + * @param r2 radius of second circle + * @param tol: absolute tolerance below which we consider touching circles + * @return list of solutions (0,1, or 2). Identical circles will return empty list, as well. + */ + static std::list CircleCircleIntersection(Point2 c1, double r1, + Point2 c2, double r2, double tol = 1e-9); + /// @} /// @name Testable /// @{ @@ -144,16 +181,15 @@ public: /// @name Vector Space /// @{ - /** norm of point */ - double norm() const; - /** creates a unit vector */ Point2 unit() const { return *this/norm(); } + /** norm of point */ + double norm(boost::optional H = boost::none) const; + /** distance between two points */ - inline double distance(const Point2& p2) const { - return (p2 - *this).norm(); - } + double distance(const Point2& p2, boost::optional H1 = boost::none, + boost::optional H2 = boost::none) const; /** @deprecated The following function has been deprecated, use distance above */ inline double dist(const Point2& p2) const { @@ -180,7 +216,7 @@ public: double y() const {return y_;} /// return vectorized form (column-wise). TODO: why does this function exist? - Vector vector() const { return Vector_(2, x_, y_); } + Vector2 vector() const { return Vector2(x_, y_); } /// @} /// @name Deprecated (non-const, non-functional style. Do not use). @@ -190,7 +226,7 @@ public: /// @} /// Streaming - friend std::ostream &operator<<(std::ostream &os, const Point2& p); + GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Point2& p); private: diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h index cf30bd1ff..5930d0e94 100644 --- a/gtsam/geometry/Point3.h +++ b/gtsam/geometry/Point3.h @@ -180,9 +180,7 @@ namespace gtsam { bool operator ==(const Point3& q) const; /** return vectorized form (column-wise)*/ - Vector3 vector() const { - return Vector3(x_,y_,z_); - } + Vector3 vector() const { return Vector3(x_,y_,z_); } /// get x inline double x() const {return x_;} @@ -204,7 +202,7 @@ namespace gtsam { /// @} /// Output stream operator - friend std::ostream &operator<<(std::ostream &os, const Point3& p); + GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Point3& p); private: diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp index 3282f3392..c0a3d43d2 100644 --- a/gtsam/geometry/Pose2.cpp +++ b/gtsam/geometry/Pose2.cpp @@ -221,32 +221,31 @@ Rot2 Pose2::bearing(const Pose2& point, /* ************************************************************************* */ double Pose2::range(const Point2& point, boost::optional H1, boost::optional H2) const { - if (!H1 && !H2) return transform_to(point).norm(); - Point2 d = transform_to(point, H1, H2); - double x = d.x(), y = d.y(), d2 = x * x + y * y, r = sqrt(d2); - Matrix D_result_d; - if(std::abs(r) > 1e-10) - D_result_d = Matrix_(1, 2, x / r, y / r); - else { - D_result_d = Matrix_(1,2, 1.0, 1.0); - } - if (H1) *H1 = D_result_d * (*H1); - if (H2) *H2 = D_result_d * (*H2); + Point2 d = point - t_; + if (!H1 && !H2) return d.norm(); + Matrix H; + double r = d.norm(H); + if (H1) *H1 = H * Matrix_(2, 3, + -r_.c(), r_.s(), 0.0, + -r_.s(), -r_.c(), 0.0); + if (H2) *H2 = H; return r; } /* ************************************************************************* */ -double Pose2::range(const Pose2& point, +double Pose2::range(const Pose2& pose2, boost::optional H1, boost::optional H2) const { - double r = range(point.t(), H1, H2); - if (H2) { - // NOTE: expmap changes the orientation of expmap direction, - // so we must rotate the jacobian - Matrix H2_ = *H2 * point.r().matrix(); - *H2 = zeros(1, 3); - insertSub(*H2, H2_, 0, 0); - } + Point2 d = pose2.t() - t_; + if (!H1 && !H2) return d.norm(); + Matrix H; + double r = d.norm(H); + if (H1) *H1 = H * Matrix_(2, 3, + -r_.c(), r_.s(), 0.0, + -r_.s(), -r_.c(), 0.0); + if (H2) *H2 = H * Matrix_(2, 3, + pose2.r_.c(), -pose2.r_.s(), 0.0, + pose2.r_.s(), pose2.r_.c(), 0.0); return r; } diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index 234e2cad6..4556f2200 100644 --- a/gtsam/geometry/Pose3.h +++ b/gtsam/geometry/Pose3.h @@ -291,7 +291,7 @@ namespace gtsam { static std::pair rotationInterval() { return std::make_pair(0, 2); } /// Output stream operator - friend std::ostream &operator<<(std::ostream &os, const Pose3& p); + GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Pose3& p); private: /** Serialization function */ diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 6adcd8a1b..9316ab33d 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -356,7 +356,7 @@ namespace gtsam { Vector quaternion() const; /// Output stream operator - friend std::ostream &operator<<(std::ostream &os, const Rot3& p); + GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Rot3& p); private: /** Serialization function */ diff --git a/gtsam/geometry/tests/testPoint2.cpp b/gtsam/geometry/tests/testPoint2.cpp index 7c73b28a2..5a6f38f75 100644 --- a/gtsam/geometry/tests/testPoint2.cpp +++ b/gtsam/geometry/tests/testPoint2.cpp @@ -15,9 +15,11 @@ * @author Frank Dellaert **/ -#include -#include #include +#include +#include +#include +#include using namespace std; using namespace gtsam; @@ -27,13 +29,13 @@ GTSAM_CONCEPT_LIE_INST(Point2) /* ************************************************************************* */ TEST(Point2, constructor) { - Point2 p1(1,2), p2 = p1; + Point2 p1(1, 2), p2 = p1; EXPECT(assert_equal(p1, p2)); } /* ************************************************************************* */ TEST(Point2, Lie) { - Point2 p1(1,2), p2(4,5); + Point2 p1(1, 2), p2(4, 5); Matrix H1, H2; EXPECT(assert_equal(Point2(5,7), p1.compose(p2, H1, H2))); @@ -49,8 +51,7 @@ TEST(Point2, Lie) { } /* ************************************************************************* */ -TEST( Point2, expmap) -{ +TEST( Point2, expmap) { Vector d(2); d(0) = 1; d(1) = -1; @@ -59,8 +60,7 @@ TEST( Point2, expmap) } /* ************************************************************************* */ -TEST( Point2, arithmetic) -{ +TEST( Point2, arithmetic) { EXPECT(assert_equal( Point2(-5,-6), -Point2(5,6) )); EXPECT(assert_equal( Point2(5,6), Point2(4,5)+Point2(1,1))); EXPECT(assert_equal( Point2(3,4), Point2(4,5)-Point2(1,1) )); @@ -70,34 +70,138 @@ TEST( Point2, arithmetic) } /* ************************************************************************* */ -TEST( Point2, norm) -{ - Point2 p0(cos(5.0), sin(5.0)); - DOUBLES_EQUAL(1,p0.norm(),1e-6); - Point2 p1(4, 5), p2(1, 1); - DOUBLES_EQUAL( 5,p1.distance(p2),1e-6); - DOUBLES_EQUAL( 5,(p2-p1).norm(),1e-6); -} - -/* ************************************************************************* */ -TEST( Point2, unit) -{ - Point2 p0(10, 0), p1(0,-10), p2(10, 10); +TEST( Point2, unit) { + Point2 p0(10, 0), p1(0, -10), p2(10, 10); EXPECT(assert_equal(Point2(1, 0), p0.unit(), 1e-6)); EXPECT(assert_equal(Point2(0,-1), p1.unit(), 1e-6)); EXPECT(assert_equal(Point2(sqrt(2.0)/2.0, sqrt(2.0)/2.0), p2.unit(), 1e-6)); } /* ************************************************************************* */ -TEST( Point2, stream) -{ - Point2 p(1,2); +// some shared test values +Point2 x1, x2(1, 1), x3(1, 1); +Point2 l1(1, 0), l2(1, 1), l3(2, 2), l4(1, 3); + +/* ************************************************************************* */ +LieVector norm_proxy(const Point2& point) { + return LieVector(point.norm()); +} +TEST( Point2, norm ) { + Point2 p0(cos(5.0), sin(5.0)); + DOUBLES_EQUAL(1, p0.norm(), 1e-6); + Point2 p1(4, 5), p2(1, 1); + DOUBLES_EQUAL( 5, p1.distance(p2), 1e-6); + DOUBLES_EQUAL( 5, (p2-p1).norm(), 1e-6); + + Matrix expectedH, actualH; + double actual; + + // exception, for (0,0) derivative is [Inf,Inf] but we return [1,1] + actual = x1.norm(actualH); + EXPECT_DOUBLES_EQUAL(0, actual, 1e-9); + expectedH = Matrix_(1, 2, 1.0, 1.0); + EXPECT(assert_equal(expectedH,actualH)); + + actual = x2.norm(actualH); + EXPECT_DOUBLES_EQUAL(sqrt(2), actual, 1e-9); + expectedH = numericalDerivative11(norm_proxy, x2); + EXPECT(assert_equal(expectedH,actualH)); +} + +/* ************************************************************************* */ +LieVector distance_proxy(const Point2& location, const Point2& point) { + return LieVector(location.distance(point)); +} +TEST( Point2, distance ) { + Matrix expectedH1, actualH1, expectedH2, actualH2; + + // establish distance is indeed zero + EXPECT_DOUBLES_EQUAL(1, x1.distance(l1), 1e-9); + + // establish distance is indeed 45 degrees + EXPECT_DOUBLES_EQUAL(sqrt(2.0), x1.distance(l2), 1e-9); + + // Another pair + double actual23 = x2.distance(l3, actualH1, actualH2); + EXPECT_DOUBLES_EQUAL(sqrt(2.0), actual23, 1e-9); + + // Check numerical derivatives + expectedH1 = numericalDerivative21(distance_proxy, x2, l3); + expectedH2 = numericalDerivative22(distance_proxy, x2, l3); + EXPECT(assert_equal(expectedH1,actualH1)); + EXPECT(assert_equal(expectedH2,actualH2)); + + // Another test + double actual34 = x3.distance(l4, actualH1, actualH2); + EXPECT_DOUBLES_EQUAL(2, actual34, 1e-9); + + // Check numerical derivatives + expectedH1 = numericalDerivative21(distance_proxy, x3, l4); + expectedH2 = numericalDerivative22(distance_proxy, x3, l4); + EXPECT(assert_equal(expectedH1,actualH1)); + EXPECT(assert_equal(expectedH2,actualH2)); +} + +/* ************************************************************************* */ +TEST( Point2, circleCircleIntersection) { + + double offset = 0.994987; + // Test intersections of circle moving from inside to outside + + list inside = Point2::CircleCircleIntersection(Point2(0,0),5,Point2(0,0),1); + EXPECT_LONGS_EQUAL(0,inside.size()); + + list touching1 = Point2::CircleCircleIntersection(Point2(0,0),5,Point2(4,0),1); + EXPECT_LONGS_EQUAL(1,touching1.size()); + EXPECT(assert_equal(Point2(5,0), touching1.front())); + + list common = Point2::CircleCircleIntersection(Point2(0,0),5,Point2(5,0),1); + EXPECT_LONGS_EQUAL(2,common.size()); + EXPECT(assert_equal(Point2(4.9, offset), common.front(), 1e-6)); + EXPECT(assert_equal(Point2(4.9, -offset), common.back(), 1e-6)); + + list touching2 = Point2::CircleCircleIntersection(Point2(0,0),5,Point2(6,0),1); + EXPECT_LONGS_EQUAL(1,touching2.size()); + EXPECT(assert_equal(Point2(5,0), touching2.front())); + + // test rotated case + list rotated = Point2::CircleCircleIntersection(Point2(0,0),5,Point2(0,5),1); + EXPECT_LONGS_EQUAL(2,rotated.size()); + EXPECT(assert_equal(Point2(-offset, 4.9), rotated.front(), 1e-6)); + EXPECT(assert_equal(Point2( offset, 4.9), rotated.back(), 1e-6)); + + // test r1 smaller = Point2::CircleCircleIntersection(Point2(0,0),1,Point2(5,0),5); + EXPECT_LONGS_EQUAL(2,smaller.size()); + EXPECT(assert_equal(Point2(0.1, offset), smaller.front(), 1e-6)); + EXPECT(assert_equal(Point2(0.1, -offset), smaller.back(), 1e-6)); + + // test offset case, r1>r2 + list offset1 = Point2::CircleCircleIntersection(Point2(1,1),5,Point2(6,1),1); + EXPECT_LONGS_EQUAL(2,offset1.size()); + EXPECT(assert_equal(Point2(5.9, 1+offset), offset1.front(), 1e-6)); + EXPECT(assert_equal(Point2(5.9, 1-offset), offset1.back(), 1e-6)); + + // test offset case, r1 offset2 = Point2::CircleCircleIntersection(Point2(6,1),1,Point2(1,1),5); + EXPECT_LONGS_EQUAL(2,offset2.size()); + EXPECT(assert_equal(Point2(5.9, 1-offset), offset2.front(), 1e-6)); + EXPECT(assert_equal(Point2(5.9, 1+offset), offset2.back(), 1e-6)); + +} + +/* ************************************************************************* */ +TEST( Point2, stream) { + Point2 p(1, 2); std::ostringstream os; os << p; EXPECT(os.str() == "(1, 2)"); } /* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +int main () { + TestResult tr; + return TestRegistry::runAllTests(tr); +} /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp index e155807ae..0a3b3d3e3 100644 --- a/gtsam/geometry/tests/testPose2.cpp +++ b/gtsam/geometry/tests/testPose2.cpp @@ -14,22 +14,21 @@ * @brief Unit tests for Pose2 class */ -#include -#include - -#include -#include -#include // for operator += -using namespace boost::assign; - -#include -#include -#include -#include #include #include #include +#include +#include +#include +#include +#include +#include +#include // for operator += +#include +#include + +using namespace boost::assign; using namespace gtsam; using namespace std; diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h index f503516a4..570369e0a 100644 --- a/gtsam/inference/VariableIndex.h +++ b/gtsam/inference/VariableIndex.h @@ -161,6 +161,16 @@ protected: template void fill(const FG& factorGraph); /// @} + +private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int version) { + ar & BOOST_SERIALIZATION_NVP(index_); + ar & BOOST_SERIALIZATION_NVP(nFactors_); + ar & BOOST_SERIALIZATION_NVP(nEntries_); + } }; /* ************************************************************************* */ diff --git a/gtsam/linear/CMakeLists.txt b/gtsam/linear/CMakeLists.txt index 802cb4d78..744151a8b 100644 --- a/gtsam/linear/CMakeLists.txt +++ b/gtsam/linear/CMakeLists.txt @@ -22,6 +22,11 @@ if (GTSAM_BUILD_TESTS) gtsam_add_subdir_tests(linear "${linear_local_libs}" "${gtsam-default}" "${linear_excluded_files}") endif(GTSAM_BUILD_TESTS) +if(MSVC) + set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/tests/testSerializationLinear.cpp" + APPEND PROPERTY COMPILE_FLAGS "/bigobj") +endif() + # Build timing scripts if (GTSAM_BUILD_TIMING) gtsam_add_subdir_timing(linear "${linear_local_libs}" "${gtsam-default}" "${linear_excluded_files}") diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h index b8d064efe..f20d10ef9 100644 --- a/gtsam/linear/GaussianConditional.h +++ b/gtsam/linear/GaussianConditional.h @@ -27,12 +27,12 @@ #include // Forward declaration to friend unit tests -class eliminate2JacobianFactorTest; -class constructorGaussianConditionalTest; -class eliminationGaussianFactorGraphTest; -class complicatedMarginalGaussianJunctionTreeTest; -class informationGaussianConditionalTest; -class isGaussianFactorGaussianConditionalTest; +class JacobianFactoreliminate2Test; +class GaussianConditionalconstructorTest; +class GaussianFactorGrapheliminationTest; +class GaussianJunctionTreecomplicatedMarginalTest; +class GaussianConditionalinformationTest; +class GaussianConditionalisGaussianFactorTest; namespace gtsam { @@ -223,12 +223,12 @@ private: // Friends friend class JacobianFactor; - friend class ::eliminate2JacobianFactorTest; - friend class ::constructorGaussianConditionalTest; - friend class ::eliminationGaussianFactorGraphTest; - friend class ::complicatedMarginalGaussianJunctionTreeTest; - friend class ::informationGaussianConditionalTest; - friend class ::isGaussianFactorGaussianConditionalTest; + friend class ::JacobianFactoreliminate2Test; + friend class ::GaussianConditionalconstructorTest; + friend class ::GaussianFactorGrapheliminationTest; + friend class ::GaussianJunctionTreecomplicatedMarginalTest; + friend class ::GaussianConditionalinformationTest; + friend class ::GaussianConditionalisGaussianFactorTest; /** Serialization function */ friend class boost::serialization::access; diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index 9fd62fed6..9f44a0964 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -23,10 +23,10 @@ #include // Forward declarations for friend unit tests -class ConversionConstructorHessianFactorTest; -class Constructor1HessianFactorTest; -class Constructor1bHessianFactorTest; -class combineHessianFactorTest; +class HessianFactorConversionConstructorTest; +class HessianFactorConstructor1Test; +class HessianFactorConstructor1bTest; +class HessianFactorcombineTest; namespace gtsam { @@ -325,10 +325,10 @@ namespace gtsam { virtual Matrix information() const; // Friend unit test classes - friend class ::ConversionConstructorHessianFactorTest; - friend class ::Constructor1HessianFactorTest; - friend class ::Constructor1bHessianFactorTest; - friend class ::combineHessianFactorTest; + friend class ::HessianFactorConversionConstructorTest; + friend class ::HessianFactorConstructor1Test; + friend class ::HessianFactorConstructor1bTest; + friend class ::HessianFactorcombineTest; // Friend JacobianFactor for conversion friend class JacobianFactor; diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index f474123e4..01de4953a 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -27,9 +27,9 @@ #include // Forward declarations of friend unit tests -class Combine2JacobianFactorTest; -class eliminateFrontalsJacobianFactorTest; -class constructor2JacobianFactorTest; +class JacobianFactorCombine2Test; +class JacobianFactoreliminateFrontalsTest; +class JacobianFactorconstructor2Test; namespace gtsam { @@ -316,9 +316,9 @@ namespace gtsam { friend class HessianFactor; // Friend unit tests (see also forward declarations above) - friend class ::Combine2JacobianFactorTest; - friend class ::eliminateFrontalsJacobianFactorTest; - friend class ::constructor2JacobianFactorTest; + friend class ::JacobianFactorCombine2Test; + friend class ::JacobianFactoreliminateFrontalsTest; + friend class ::JacobianFactorconstructor2Test; /** Serialization function */ friend class boost::serialization::access; diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index a209c3d44..bc18abfb4 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -1043,7 +1043,7 @@ VectorValues optimize(const ISAM2& isam) { /* ************************************************************************* */ void optimizeInPlace(const ISAM2& isam, VectorValues& delta) { - // We may need to update the solution calcaulations + // We may need to update the solution calculations if(!isam.deltaDoglegUptodate_) { gttic(UpdateDoglegDeltas); double wildfireThreshold = 0.0; diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 3b4bbaa48..3015a51c8 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -586,7 +586,7 @@ public: VALUE calculateEstimate(Key key) const; /// @name Public members for non-typical usage - //@{ + /// @{ /** Internal implementation functions */ struct Impl; @@ -619,7 +619,7 @@ public: /** prints out clique statistics */ GTSAM_EXPORT void printStats() const { getCliqueData().getStats().print(); } - //@} + /// @} private: diff --git a/gtsam/nonlinear/LinearContainerFactor.h b/gtsam/nonlinear/LinearContainerFactor.h index b5b9729d1..cc87e278a 100644 --- a/gtsam/nonlinear/LinearContainerFactor.h +++ b/gtsam/nonlinear/LinearContainerFactor.h @@ -26,6 +26,9 @@ protected: GaussianFactor::shared_ptr factor_; boost::optional linearizationPoint_; + /** Default constructor - necessary for serialization */ + LinearContainerFactor() {} + /** direct copy constructor */ LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const boost::optional& linearizationPoint); @@ -148,6 +151,18 @@ protected: void rekeyFactor(const Ordering& ordering); void initializeLinearizationPoint(const Values& linearizationPoint); +private: + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int version) { + ar & boost::serialization::make_nvp("NonlinearFactor", + boost::serialization::base_object(*this)); + ar & BOOST_SERIALIZATION_NVP(factor_); + ar & BOOST_SERIALIZATION_NVP(linearizationPoint_); + } + }; // \class LinearContainerFactor } // \namespace gtsam diff --git a/gtsam/nonlinear/WhiteNoiseFactor.h b/gtsam/nonlinear/WhiteNoiseFactor.h index abe0598df..910444cf8 100644 --- a/gtsam/nonlinear/WhiteNoiseFactor.h +++ b/gtsam/nonlinear/WhiteNoiseFactor.h @@ -24,7 +24,7 @@ namespace gtsam { - const double logSqrt2PI = log(sqrt(2.0 * M_PI)); ///< constant needed below + const double logSqrt2PI = log(std::sqrt(2.0 * M_PI)); ///< constant needed below /** * @brief Binary factor to estimate parameters of zero-mean Gaussian white noise @@ -32,22 +32,21 @@ namespace gtsam { * This factor uses the mean-precision parameterization. * * Takes three template arguments: - * MKEY: key type to use for mean - * PKEY: key type to use for precision - * VALUES: Values type for optimization + * Key: key type to use for mean + * Key: key type to use for precision + * Values: Values type for optimization * \nosubgrouping */ - template - class WhiteNoiseFactor: public NonlinearFactor { + class WhiteNoiseFactor: public NonlinearFactor { private: double z_; ///< Measurement - MKEY meanKey_; ///< key by which to access mean variable - PKEY precisionKey_; ///< key by which to access precision variable + Key meanKey_; ///< key by which to access mean variable + Key precisionKey_; ///< key by which to access precision variable - typedef NonlinearFactor Base; + typedef NonlinearFactor Base; public: @@ -93,7 +92,7 @@ namespace gtsam { * @param meanKey Key for mean variable * @param precisionKey Key for precision variable */ - WhiteNoiseFactor(double z, const MKEY& meanKey, const PKEY& precisionKey) : + WhiteNoiseFactor(double z, Key meanKey, Key precisionKey) : Base(), z_(z), meanKey_(meanKey), precisionKey_(precisionKey) { } @@ -110,8 +109,9 @@ namespace gtsam { /// @{ /// Print - void print(const std::string& p = "WhiteNoiseFactor") const { - Base::print(p); + void print(const std::string& p = "WhiteNoiseFactor", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + Base::print(p, keyFormatter); std::cout << p + ".z: " << z_ << std::endl; } @@ -125,8 +125,8 @@ namespace gtsam { } /// Calculate the error of the factor, typically equal to log-likelihood - inline double error(const VALUES& x) const { - return f(z_, x[meanKey_].value(), x[precisionKey_].value()); + inline double error(const Values& x) const { + return f(z_, x.at(meanKey_), x.at(precisionKey_)); } /** @@ -136,8 +136,8 @@ namespace gtsam { * Here we shoehorn sqrt(2*error(p)) * TODO: Where is this used? should disappear. */ - virtual Vector unwhitenedError(const VALUES& x) const { - return Vector_(1, sqrt(2 * error(x))); + virtual Vector unwhitenedError(const Values& x) const { + return Vector_(1, std::sqrt(2 * error(x))); } /** @@ -154,19 +154,20 @@ namespace gtsam { /// @{ /// linearize returns a Hessianfactor that is an approximation of error(p) - virtual boost::shared_ptr linearize(const VALUES& x, + virtual boost::shared_ptr linearize(const Values& x, const Ordering& ordering) const { - double u = x[meanKey_].value(); - double p = x[precisionKey_].value(); + double u = x.at(meanKey_); + double p = x.at(precisionKey_); Index j1 = ordering[meanKey_]; Index j2 = ordering[precisionKey_]; return linearize(z_, u, p, j1, j2); } - /// @return a deep copy of this factor - virtual gtsam::NonlinearFactor::shared_ptr clone() const { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); } + // TODO: Frank commented this out for now, can it go? + // /// @return a deep copy of this factor + // virtual gtsam::NonlinearFactor::shared_ptr clone() const { + // return boost::static_pointer_cast( + // gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /// @} diff --git a/gtsam/nonlinear/tests/testWhiteNoiseFactor.cpp b/gtsam/nonlinear/tests/testWhiteNoiseFactor.cpp new file mode 100644 index 000000000..a141641e3 --- /dev/null +++ b/gtsam/nonlinear/tests/testWhiteNoiseFactor.cpp @@ -0,0 +1,38 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file testWhiteNoiseFactor.cpp + * @author Frank Dellaert + */ + +#include +#include + +#include +#include // for operator += +using namespace boost::assign; + +using namespace gtsam; +using namespace std; + +/* ************************************************************************* */ +TEST( WhiteNoiseFactor, constructor ) +{ + double z = 0.1; + Key meanKey=1, precisionKey=2; + WhiteNoiseFactor factor(z,meanKey, precisionKey); + LONGS_EQUAL(2,factor.dim()); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ diff --git a/gtsam/slam/CMakeLists.txt b/gtsam/slam/CMakeLists.txt index ba5ad5d24..c9497f167 100644 --- a/gtsam/slam/CMakeLists.txt +++ b/gtsam/slam/CMakeLists.txt @@ -1,5 +1,10 @@ # Install headers +set (slam_excluded_headers #"") + "${CMAKE_CURRENT_SOURCE_DIR}/serialization.h" +) + file(GLOB slam_headers "*.h") +list(REMOVE_ITEM slam_headers ${slam_excluded_headers}) install(FILES ${slam_headers} DESTINATION include/gtsam/slam) # Components to link tests in this subfolder against @@ -15,8 +20,8 @@ set(slam_local_libs # Files to exclude from compilation of tests and timing scripts set(slam_excluded_files -# "${CMAKE_CURRENT_SOURCE_DIR}/tests/testTypedDiscreteFactor.cpp" # Example of excluding a test - "" # Add to this list, with full path, to exclude + "${CMAKE_CURRENT_SOURCE_DIR}/tests/testSerialization.cpp" +# "" # Add to this list, with full path, to exclude ) # Build tests diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 74fae5bb9..39fcaccc1 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -14,11 +14,24 @@ set(GTSAM_UNSTABLE_BOOST_LIBRARIES ${GTSAM_BOOST_LIBRARIES} ${Boost_THREAD_LIBRA add_custom_target(check.unstable COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure) +# To exclude a source from the library build (in any subfolder) +# Add the full name to this list, as in the following example +# Sources to remove from builds +set (excluded_sources # "") + "${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.cpp" +) + +set (excluded_headers # "") + "${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h" +) + # assemble core libaries foreach(subdir ${gtsam_unstable_subdirs}) # Build convenience libraries file(GLOB subdir_srcs "${subdir}/*.cpp") file(GLOB subdir_headers "${subdir}/*.h") + list(REMOVE_ITEM subdir_srcs ${excluded_sources}) + list(REMOVE_ITEM subdir_headers ${excluded_headers}) set(${subdir}_srcs ${subdir_srcs} ${subdir_headers}) gtsam_assign_source_folders("${${subdir}_srcs}") # Create MSVC structure if (subdir_srcs AND GTSAM_BUILD_CONVENIENCE_LIBRARIES) diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp new file mode 100644 index 000000000..2cf4f3307 --- /dev/null +++ b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp @@ -0,0 +1,210 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file SmartRangeExample_plaza2.cpp + * @brief A 2D Range SLAM example + * @date June 20, 2013 + * @author FRank Dellaert + */ + +// Both relative poses and recovered trajectory poses will be stored as Pose2 objects +#include + +// Each variable in the system (poses and landmarks) must be identified with a unique key. +// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). +// Here we will use Symbols +#include + +// We want to use iSAM2 to solve the range-SLAM problem incrementally +#include + +// iSAM2 requires as input a set set of new factors to be added stored in a factor graph, +// and initial guesses for any new variables used in the added factors +#include +#include + +// We will use a non-liear solver to batch-inituialize from the first 150 frames +#include + +// In GTSAM, measurement functions are represented as 'factors'. Several common factors +// have been provided with the library for solving robotics SLAM problems. +#include +#include +#include + +// Standard headers, added last, so we know headers above work on their own +#include +#include +#include + +using namespace std; +using namespace gtsam; +namespace NM = gtsam::noiseModel; + +// data available at http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/ +// Datafile format (from http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/log.html) + +// load the odometry +// DR: Odometry Input (delta distance traveled and delta heading change) +// Time (sec) Delta Dist. Trav. (m) Delta Heading (rad) +typedef pair TimedOdometry; +list readOdometry() { + list odometryList; + ifstream is("/Users/dellaert/borg/gtsam/examples/Data/Plaza1_DR.txt"); + if (!is) + throw runtime_error("/Users/dellaert/borg/gtsam/examples/Data/Plaza1_DR.txt file not found"); + + while (is) { + double t, distance_traveled, delta_heading; + is >> t >> distance_traveled >> delta_heading; + odometryList.push_back( + TimedOdometry(t, Pose2(distance_traveled, 0, delta_heading))); + } + is.clear(); /* clears the end-of-file and error flags */ + return odometryList; +} + +// load the ranges from TD +// Time (sec) Sender / Antenna ID Receiver Node ID Range (m) +typedef boost::tuple RangeTriple; +vector readTriples() { + vector triples; + ifstream is("/Users/dellaert/borg/gtsam/examples/Data/Plaza1_TD.txt"); + if (!is) + throw runtime_error("/Users/dellaert/borg/gtsam/examples/Data/Plaza1_TD.txt file not found"); + + while (is) { + double t, sender, receiver, range; + is >> t >> sender >> receiver >> range; + triples.push_back(RangeTriple(t, receiver, range)); + } + is.clear(); /* clears the end-of-file and error flags */ + return triples; +} + +// main +int main (int argc, char** argv) { + + // load Plaza1 data + list odometry = readOdometry(); +// size_t M = odometry.size(); + + vector triples = readTriples(); + size_t K = triples.size(); + + // parameters + size_t incK = 50; // minimum number of range measurements to process after + bool robust = false; + + // Set Noise parameters + Vector priorSigmas = Vector3(1,1,M_PI); + Vector odoSigmas = Vector3(0.05, 0.01, 0.2); + double sigmaR = 100; // range standard deviation + const NM::Base::shared_ptr // all same type + priorNoise = NM::Diagonal::Sigmas(priorSigmas), //prior + odoNoise = NM::Diagonal::Sigmas(odoSigmas), // odometry + gaussian = NM::Isotropic::Sigma(1, sigmaR), // non-robust + tukey = NM::Robust::Create(NM::mEstimator::Tukey::Create(15), gaussian), //robust + rangeNoise = robust ? tukey : gaussian; + + // Initialize iSAM + ISAM2 isam; + + // Add prior on first pose + Pose2 pose0 = Pose2(-34.2086489999201, 45.3007639991120, + M_PI - 2.02108900000000); + NonlinearFactorGraph newFactors; + newFactors.add(PriorFactor(0, pose0, priorNoise)); + + // initialize points (Gaussian) + Values initial; + initial.insert(symbol('L', 1), Point2(-68.9265, 18.3778)); + initial.insert(symbol('L', 6), Point2(-37.5805, 69.2278)); + initial.insert(symbol('L', 0), Point2(-33.6205, 26.9678)); + initial.insert(symbol('L', 5), Point2(1.7095, -5.8122)); + Values landmarkEstimates = initial; // copy landmarks + initial.insert(0, pose0); + + // set some loop variables + size_t i = 1; // step counter + size_t k = 0; // range measurement counter + Pose2 lastPose = pose0; + size_t countK = 0; + + // Loop over odometry + gttic_(iSAM); + BOOST_FOREACH(const TimedOdometry& timedOdometry, odometry) { + //--------------------------------- odometry loop ----------------------------------------- + double t; + Pose2 odometry; + boost::tie(t, odometry) = timedOdometry; + + // add odometry factor + newFactors.add(BetweenFactor(i-1, i, odometry,NM::Diagonal::Sigmas(odoSigmas))); + + // predict pose and add as initial estimate + Pose2 predictedPose = lastPose.compose(odometry); + lastPose = predictedPose; + initial.insert(i, predictedPose); + landmarkEstimates.insert(i, predictedPose); + + // Check if there are range factors to be added + while (k < K && t >= boost::get<0>(triples[k])) { + size_t j = boost::get<1>(triples[k]); + double range = boost::get<2>(triples[k]); + RangeFactor factor(i, symbol('L', j), range,rangeNoise); + // Throw out obvious outliers based on current landmark estimates + Vector error=factor.unwhitenedError(landmarkEstimates); + if (k<=200 || fabs(error[0])<5) + newFactors.add(factor); + k = k + 1; + countK = countK + 1; + } + + // Check whether to update iSAM 2 + if (countK > incK) { + gttic_(update); + isam.update(newFactors, initial); + gttoc_(update); + gttic_(calculateEstimate); + Values result = isam.calculateEstimate(); + gttoc_(calculateEstimate); + lastPose = result.at(i); + // update landmark estimates + landmarkEstimates = Values(); + landmarkEstimates.insert(symbol('L', 1), result.at(symbol('L', 1))); + landmarkEstimates.insert(symbol('L', 6), result.at(symbol('L', 6))); + landmarkEstimates.insert(symbol('L', 0), result.at(symbol('L', 0))); + landmarkEstimates.insert(symbol('L', 5), result.at(symbol('L', 5))); + newFactors = NonlinearFactorGraph(); + initial = Values(); + countK = 0; + } + i += 1; + //--------------------------------- odometry loop ----------------------------------------- + } // BOOST_FOREACH + gttoc_(iSAM); + + // Print timings + tictoc_print_(); + + // Write result to file + Values result = isam.calculateEstimate(); + ofstream os2("/Users/dellaert/borg/gtsam/gtsam_unstable/examples/rangeResultLM.txt"); + BOOST_FOREACH(const Values::ConstFiltered::KeyValuePair& it, result.filter()) + os2 << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t1" << endl; + ofstream os("/Users/dellaert/borg/gtsam/gtsam_unstable/examples/rangeResult.txt"); + BOOST_FOREACH(const Values::ConstFiltered::KeyValuePair& it, result.filter()) + os << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t" << it.value.theta() << endl; + exit(0); +} + diff --git a/gtsam_unstable/examples/plotRangeResults.p b/gtsam_unstable/examples/plotRangeResults.p new file mode 100644 index 000000000..085bc48b3 --- /dev/null +++ b/gtsam_unstable/examples/plotRangeResults.p @@ -0,0 +1,6 @@ +#!/opt/local/bin/gnuplot +reset +#set terminal pdf +set title "Smart range SLAM result" +set size ratio 1 +plot "rangeResult.txt" using 2:3 with lines, "rangeResultLM.txt" using 2:3:4 with circles \ No newline at end of file diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index 27dd8ba1c..c4feeccef 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -86,6 +86,8 @@ virtual class PoseRTV : gtsam::Value { Vector imuPrediction(const gtsam::PoseRTV& x2, double dt) const; gtsam::Point3 translationIntegration(const gtsam::PoseRTV& x2, double dt) const; Vector translationIntegrationVec(const gtsam::PoseRTV& x2, double dt) const; + + void serializable() const; // enabling serialization functionality }; #include @@ -122,6 +124,8 @@ virtual class Pose3Upright : gtsam::Value { static gtsam::Pose3Upright Expmap(Vector xi); static Vector Logmap(const gtsam::Pose3Upright& p); + + void serializable() const; // enabling serialization functionality }; // \class Pose3Upright #include @@ -142,6 +146,8 @@ virtual class BearingS2 : gtsam::Value { size_t dim() const; gtsam::BearingS2 retract(Vector v) const; Vector localCoordinates(const gtsam::BearingS2& p2) const; + + void serializable() const; // enabling serialization functionality }; // std::vector @@ -288,6 +294,8 @@ class SimPolygon2D { template virtual class PriorFactor : gtsam::NonlinearFactor { PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); + + void serializable() const; // enabling serialization functionality }; @@ -295,6 +303,8 @@ virtual class PriorFactor : gtsam::NonlinearFactor { template virtual class BetweenFactor : gtsam::NonlinearFactor { BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel); + + void serializable() const; // enabling serialization functionality }; @@ -302,6 +312,8 @@ virtual class BetweenFactor : gtsam::NonlinearFactor { template virtual class RangeFactor : gtsam::NonlinearFactor { RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); + + void serializable() const; // enabling serialization functionality }; typedef gtsam::RangeFactor RangeFactorRTV; @@ -314,6 +326,8 @@ virtual class NonlinearEquality : gtsam::NonlinearFactor { NonlinearEquality(size_t j, const T& feasible); // Constructor - allows inexact evaluation NonlinearEquality(size_t j, const T& feasible, double error_gain); + + void serializable() const; // enabling serialization functionality }; #include diff --git a/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h b/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h index 706ae2b65..71fe45b47 100644 --- a/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h +++ b/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h @@ -111,7 +111,7 @@ public: protected: - friend void synchronize(ConcurrentFilter& filter, ConcurrentSmoother& smoother); + GTSAM_UNSTABLE_EXPORT friend void synchronize(ConcurrentFilter& filter, ConcurrentSmoother& smoother); /** Default constructor */ ConcurrentSmoother() {}; diff --git a/gtsam_unstable/slam/CMakeLists.txt b/gtsam_unstable/slam/CMakeLists.txt index 1a92167ac..27ade7a5e 100644 --- a/gtsam_unstable/slam/CMakeLists.txt +++ b/gtsam_unstable/slam/CMakeLists.txt @@ -1,5 +1,10 @@ # Install headers +set (slam_excluded_headers #"") + "${CMAKE_CURRENT_SOURCE_DIR}/serialization.h" +) + file(GLOB slam_headers "*.h") +list(REMOVE_ITEM slam_headers ${slam_excluded_headers}) install(FILES ${slam_headers} DESTINATION include/gtsam_unstable/slam) # Components to link tests in this subfolder against @@ -19,8 +24,10 @@ set (slam_full_libs ${gtsam_unstable-default}) # Exclude tests that don't work -set (slam_excluded_tests "") - +set (slam_excluded_tests + "${CMAKE_CURRENT_SOURCE_DIR}/tests/testSerialization.cpp" +# "" # Add to this list, with full path, to exclude +) # Add all tests gtsam_add_subdir_tests(slam_unstable "${slam_local_libs}" "${slam_full_libs}" "${slam_excluded_tests}") add_dependencies(check.unstable check.slam_unstable) diff --git a/gtsam_unstable/slam/Mechanization_bRn2.cpp b/gtsam_unstable/slam/Mechanization_bRn2.cpp index 312814d15..91cc17f6d 100644 --- a/gtsam_unstable/slam/Mechanization_bRn2.cpp +++ b/gtsam_unstable/slam/Mechanization_bRn2.cpp @@ -83,14 +83,21 @@ Mechanization_bRn2 Mechanization_bRn2::integrate(const Vector& u, const double dt) const { // integrate rotation nRb based on gyro measurement u and bias x_g +#ifndef MODEL_NAV_FRAME_ROTATION // get body to inertial (measured in b) from gyro, subtract bias Vector b_omega_ib = u - x_g_; - // assume nav to inertial through movement is unknown + // nav to inertial due to Earth's rotation and our movement on Earth surface + // TODO: figure out how to do this if we need it Vector b_omega_in = zero(3); - // get angular velocity on bRn measured in body frame + // calculate angular velocity on bRn measured in body frame Vector b_omega_bn = b_omega_in - b_omega_ib; +#else + // Assume a non-rotating nav frame (probably an approximation) + // calculate angular velocity on bRn measured in body frame + Vector b_omega_bn = x_g_ - u; +#endif // convert to navigation frame Rot3 nRb = bRn_.inverse(); diff --git a/gtsam_unstable/slam/SmartRangeFactor.h b/gtsam_unstable/slam/SmartRangeFactor.h new file mode 100644 index 000000000..dd1de5ef5 --- /dev/null +++ b/gtsam_unstable/slam/SmartRangeFactor.h @@ -0,0 +1,130 @@ +/** + * @file SmartRangeFactor.h + * + * @brief A smart factor for range-only SLAM that does initialization and marginalization + * + * @date Sep 10, 2012 + * @author Alex Cunningham + */ + +#pragma once + +#include +#include +#include +#include +#include +#include + +namespace gtsam { + +/** + * Smart factor for range SLAM + * @addtogroup SLAM + */ +class GTSAM_UNSTABLE_EXPORT SmartRangeFactor: public NoiseModelFactor { +protected: + + struct Circle2 { + Circle2(const Point2& p, double r) : + center(p), radius(r) { + } + Point2 center; + double radius; + }; + + /// Range measurements + std::vector measurements_; + +public: + + /** Default constructor: don't use directly */ + SmartRangeFactor() { + } + + /** standard binary constructor */ + SmartRangeFactor(const SharedNoiseModel& model) { + } + + virtual ~SmartRangeFactor() { + } + + /// Add a range measurement to a pose with given key. + void addRange(Key key, double measuredRange) { + keys_.push_back(key); + measurements_.push_back(measuredRange); + } + + // Testable + + /** print */ + virtual void print(const std::string& s = "", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + } + + /** Check if two factors are equal */ + virtual bool equals(const NonlinearFactor& f, double tol = 1e-9) const { + return false; + } + + // factor interface + + /** + * Triangulate a point from at least three pose-range pairs + * Checks for best pair that includes first point + */ + static Point2 triangulate(const std::list& circles) { + Circle2 circle1 = circles.front(); + boost::optional best_fh; + boost::optional best_circle; + BOOST_FOREACH(const Circle2& it, circles) { + // distance between circle centers. + double d = circle1.center.dist(it.center); + if (d < 1e-9) + continue; + boost::optional fh = Point2::CircleCircleIntersection( + circle1.radius / d, it.radius / d); + if (fh && (!best_fh || fh->y() > best_fh->y())) { + best_fh = fh; + best_circle = it; + } + } + std::list solutions = Point2::CircleCircleIntersection( + circle1.center, best_circle->center, best_fh); + // TODO, pick winner based on other measurement + return solutions.front(); + } + + /** + * Error function *without* the NoiseModel, \f$ z-h(x) \f$. + */ + virtual Vector unwhitenedError(const Values& x, + boost::optional&> H = boost::none) const { + size_t K = size(); + Vector errors = zero(K); + if (K >= 3) { + std::list circles; + for (size_t i = 0; i < K; i++) { + const Pose2& pose = x.at(keys_[i]); + circles.push_back(Circle2(pose.translation(), measurements_[i])); + } + Point2 optimizedPoint = triangulate(circles); + if (H) + *H = std::vector(); + for (size_t i = 0; i < K; i++) { + const Pose2& pose = x.at(keys_[i]); + if (H) { + Matrix Hi; + errors[i] = pose.range(optimizedPoint, Hi) - measurements_[i]; + H->push_back(Hi); + } else + errors[i] = pose.range(optimizedPoint) - measurements_[i]; + } + } + return errors; + } + +}; + +} // \namespace gtsam + diff --git a/gtsam/slam/serialization.cpp b/gtsam_unstable/slam/serialization.cpp similarity index 100% rename from gtsam/slam/serialization.cpp rename to gtsam_unstable/slam/serialization.cpp diff --git a/gtsam/slam/serialization.h b/gtsam_unstable/slam/serialization.h similarity index 100% rename from gtsam/slam/serialization.h rename to gtsam_unstable/slam/serialization.h diff --git a/gtsam_unstable/slam/tests/testAHRS.cpp b/gtsam_unstable/slam/tests/testAHRS.cpp index f9731113b..d59098402 100644 --- a/gtsam_unstable/slam/tests/testAHRS.cpp +++ b/gtsam_unstable/slam/tests/testAHRS.cpp @@ -5,11 +5,12 @@ * @author Chris Beall */ -#include +#include "../AHRS.h" #include #include -#include "../AHRS.h" +#include #include +#include using namespace std; using namespace gtsam; @@ -67,6 +68,21 @@ TEST (AHRS, constructor) { AHRS ahrs = AHRS(stationaryU,stationaryF,g_e); } +/* ************************************************************************* */ +// TODO make a testMechanization_bRn2 +TEST (AHRS, Mechanization_integrate) { + AHRS ahrs = AHRS(stationaryU,stationaryF,g_e); + Mechanization_bRn2 mech; + KalmanFilter::State state; +// boost::tie(mech,state) = ahrs.initialize(g_e); +// Vector u = Vector_(3,0.05,0.0,0.0); +// double dt = 2; +// Rot3 expected; +// Mechanization_bRn2 mech2 = mech.integrate(u,dt); +// Rot3 actual = mech2.bRn(); +// EXPECT(assert_equal(expected, actual)); +} + /* ************************************************************************* */ /* TODO: currently fails because of problem with ill-conditioned system TEST (AHRS, init) { diff --git a/gtsam/slam/tests/testSerialization.cpp b/gtsam_unstable/slam/tests/testSerialization.cpp similarity index 100% rename from gtsam/slam/tests/testSerialization.cpp rename to gtsam_unstable/slam/tests/testSerialization.cpp diff --git a/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp b/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp new file mode 100644 index 000000000..7eb01eedc --- /dev/null +++ b/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp @@ -0,0 +1,89 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file testSmartRangeFactor.cpp + * @brief Unit tests for SmartRangeFactor Class + * @author Frank Dellaert + * @date Nov 2013 + */ + +#include +#include + +using namespace std; +using namespace gtsam; + +const noiseModel::Base::shared_ptr gaussian = noiseModel::Isotropic::Sigma(1, + 2.0); + +/* ************************************************************************* */ + +TEST( SmartRangeFactor, constructor ) { + SmartRangeFactor f1; + LONGS_EQUAL(0, f1.size()) + SmartRangeFactor f2(gaussian); + LONGS_EQUAL(0, f2.size()) +} + +/* ************************************************************************* */ + +TEST( SmartRangeFactor, addRange ) { + SmartRangeFactor f(gaussian); + f.addRange(1, 10); + f.addRange(1, 12); + LONGS_EQUAL(2, f.size()) +} + +/* ************************************************************************* */ + +TEST( SmartRangeFactor, unwhitenedError ) { + // Test situation: + Point2 p(0, 10); + Pose2 pose1(0, 0, 0), pose2(5, 0, 0), pose3(5, 5, 0); + double r1 = pose1.range(p), r2 = pose2.range(p), r3 = pose3.range(p); + DOUBLES_EQUAL(10, r1, 1e-9); + DOUBLES_EQUAL(sqrt(100+25), r2, 1e-9); + DOUBLES_EQUAL(sqrt(50), r3, 1e-9); + + Values values; // all correct + values.insert(1, pose1); + values.insert(2, pose2); + values.insert(3, pose3); + + SmartRangeFactor f(gaussian); + f.addRange(1, r1); + + // Whenever there are two ranges or less, error should be zero + Vector actual1 = f.unwhitenedError(values); + EXPECT(assert_equal(Vector_(1,0.0), actual1)); + f.addRange(2, r2); + Vector actual2 = f.unwhitenedError(values); + EXPECT(assert_equal(Vector2(0,0), actual2)); + + f.addRange(3, r3); + vector H; + Vector actual3 = f.unwhitenedError(values,H); + EXPECT(assert_equal(Vector3(0,0,0), actual3)); + + // Check keys and Jacobian + EXPECT_LONGS_EQUAL(3,f.keys().size()); + EXPECT(assert_equal(Matrix_(1,3,0.0,-1.0,0.0), H.front())); + EXPECT(assert_equal(Matrix_(1,3,sqrt(2)/2,-sqrt(2)/2,0.0), H.back())); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ + diff --git a/matlab/+gtsam/Contents.m b/matlab/+gtsam/Contents.m index de7f97351..8d15bc913 100644 --- a/matlab/+gtsam/Contents.m +++ b/matlab/+gtsam/Contents.m @@ -37,6 +37,7 @@ % %% Linear Inference % GaussianSequentialSolver - class GaussianSequentialSolver, see Doxygen page for details +% GaussianMultifrontalSolver - class GaussianMultifrontalSolver, see Doxygen page for details % IterativeOptimizationParameters - class IterativeOptimizationParameters, see Doxygen page for details % KalmanFilter - class KalmanFilter, see Doxygen page for details % SubgraphSolver - class SubgraphSolver, see Doxygen page for details diff --git a/matlab/+gtsam/VisualISAMGenerateData.m b/matlab/+gtsam/VisualISAMGenerateData.m index b3b602afe..ab47e92db 100644 --- a/matlab/+gtsam/VisualISAMGenerateData.m +++ b/matlab/+gtsam/VisualISAMGenerateData.m @@ -2,8 +2,9 @@ function [data,truth] = VisualISAMGenerateData(options) % VisualISAMGenerateData creates data for viusalSLAM::iSAM examples % Authors: Duy Nguyen Ta and Frank Dellaert -%% Generate simulated data import gtsam.* + +%% Generate simulated data if options.triangle % Create a triangle target, just 3 points on a plane nrPoints = 3; r = 10; @@ -24,7 +25,6 @@ else % 3D landmarks as vertices of a cube end %% Create camera cameras on a circle around the triangle -import gtsam.* height = 10; r = 40; truth.K = Cal3_S2(500,500,0,640/2,480/2); data.K = truth.K; diff --git a/matlab/+gtsam/VisualISAMInitialize.m b/matlab/+gtsam/VisualISAMInitialize.m index 8da23a1ec..29f8b3b46 100644 --- a/matlab/+gtsam/VisualISAMInitialize.m +++ b/matlab/+gtsam/VisualISAMInitialize.m @@ -2,16 +2,16 @@ function [noiseModels,isam,result,nextPoseIndex] = VisualISAMInitialize(data,tru % VisualISAMInitialize initializes visualSLAM::iSAM object and noise parameters % Authors: Duy Nguyen Ta, Frank Dellaert and Alex Cunningham -%% Initialize iSAM import gtsam.* + +%% Initialize iSAM params = gtsam.ISAM2Params; if options.alwaysRelinearize params.setRelinearizeSkip(1); end -isam = ISAM2; +isam = ISAM2(params); %% Set Noise parameters -import gtsam.* noiseModels.pose = noiseModel.Diagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); %noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.05 0.05 0.05 0.2 0.2 0.2]'); @@ -20,7 +20,6 @@ noiseModels.measurement = noiseModel.Isotropic.Sigma(2, 1.0); %% Add constraints/priors % TODO: should not be from ground truth! -import gtsam.* newFactors = NonlinearFactorGraph; initialEstimates = Values; for i=1:2 @@ -38,7 +37,6 @@ end nextPoseIndex = 3; %% Add visual measurement factors from two first poses and initialize observed landmarks -import gtsam.* for i=1:2 ii = symbol('x',i); for k=1:length(data.Z{i}) @@ -56,11 +54,9 @@ for i=1:2 end %% Add odometry between frames 1 and 2 -import gtsam.* newFactors.add(BetweenFactorPose3(symbol('x',1), symbol('x',2), data.odometry{1}, noiseModels.odometry)); %% Update ISAM -import gtsam.* if options.batchInitialization % Do a full optimize for first two poses batchOptimizer = LevenbergMarquardtOptimizer(newFactors, initialEstimates); fullyOptimized = batchOptimizer.optimize(); diff --git a/matlab/+gtsam/VisualISAMPlot.m b/matlab/+gtsam/VisualISAMPlot.m index a6a677723..874dbf523 100644 --- a/matlab/+gtsam/VisualISAMPlot.m +++ b/matlab/+gtsam/VisualISAMPlot.m @@ -2,6 +2,7 @@ function VisualISAMPlot(truth, data, isam, result, options) % VisualISAMPlot plots current state of ISAM2 object % Authors: Duy Nguyen Ta and Frank Dellaert +import gtsam.* h=gca; cla(h); hold on; @@ -12,7 +13,6 @@ marginals = Marginals(isam.getFactorsUnsafe(), isam.calculateEstimate()); % TODO gtsam.plot3DPoints(result, [], marginals); %% Plot cameras -import gtsam.* M = 1; while result.exists(symbol('x',M)) ii = symbol('x',M); diff --git a/matlab/+gtsam/VisualISAMStep.m b/matlab/+gtsam/VisualISAMStep.m index 25b4c1027..82b3754ef 100644 --- a/matlab/+gtsam/VisualISAMStep.m +++ b/matlab/+gtsam/VisualISAMStep.m @@ -2,19 +2,18 @@ function [isam,result,nextPoseIndex] = VisualISAMStep(data,noiseModels,isam,resu % VisualISAMStep executes one update step of visualSLAM::iSAM object % Authors: Duy Nguyen Ta and Frank Dellaert +import gtsam.* + % iSAM expects us to give it a new set of factors % along with initial estimates for any new variables introduced. -import gtsam.* newFactors = NonlinearFactorGraph; initialEstimates = Values; %% Add odometry -import gtsam.* odometry = data.odometry{nextPoseIndex-1}; newFactors.add(BetweenFactorPose3(symbol('x',nextPoseIndex-1), symbol('x',nextPoseIndex), odometry, noiseModels.odometry)); %% Add visual measurement factors and initializations as necessary -import gtsam.* for k=1:length(data.Z{nextPoseIndex}) zij = data.Z{nextPoseIndex}{k}; j = data.J{nextPoseIndex}{k}; @@ -28,7 +27,6 @@ for k=1:length(data.Z{nextPoseIndex}) end %% Initial estimates for the new pose. -import gtsam.* prevPose = result.at(symbol('x',nextPoseIndex-1)); initialEstimates.insert(symbol('x',nextPoseIndex), prevPose.compose(odometry)); diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt index 1305b8d88..3e9e9d370 100644 --- a/matlab/CMakeLists.txt +++ b/matlab/CMakeLists.txt @@ -19,6 +19,7 @@ install(FILES "${GTSAM_SOURCE_ROOT_DIR}/matlab/README-gtsam-toolbox.txt" DESTINA message(STATUS "Installing Matlab Toolbox Examples (Data)") # Data files: *.graph and *.txt file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph") +file(GLOB matlab_examples_data_mat "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.mat") file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt") -set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt}) +set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_mat} ${matlab_examples_data_txt}) install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data) diff --git a/matlab/gtsam_examples/RangeISAMExample_plaza.m b/matlab/gtsam_examples/RangeISAMExample_plaza.m new file mode 100644 index 000000000..788745a3d --- /dev/null +++ b/matlab/gtsam_examples/RangeISAMExample_plaza.m @@ -0,0 +1,195 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% GTSAM Copyright 2010, Georgia Tech Research Corporation, +% Atlanta, Georgia 30332-0415 +% All Rights Reserved +% Authors: Frank Dellaert, et al. (see THANKS for the full author list) +% +% See LICENSE for the license information +% +% @brief Read Robotics Institute range-only Plaza2 dataset and do iSAM +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% preliminaries +clear +import gtsam.* + +%% Find and load data file +% data available at http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/ +% Datafile format (from http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/log.html) +% GT: Groundtruth path from GPS +% Time (sec) X_pose (m) Y_pose (m) Heading (rad) +% DR: Odometry Input (delta distance traveled and delta heading change) +% Time (sec) Delta Dist. Trav. (m) Delta Heading (rad) +% DRp: Dead Reckoned Path from Odometry +% Time (sec) X_pose (m) Y_pose (m) Heading (rad) +% TL: Surveyed Node Locations +% Time (sec) X_pose (m) Y_pose (m) +% TD +% Time (sec) Sender / Antenna ID Receiver Node ID Range (m) +if false % switch between data files + datafile = findExampleDataFile('Plaza1_.mat'); + headingOffset=0; + minK=200; % minimum number of range measurements to process initially + incK=5; % minimum number of range measurements to process after +else + datafile = findExampleDataFile('Plaza2_.mat'); + headingOffset=pi; + minK=150; % needs less for init + incK=25; % minimum number of range measurements to process after +end +load(datafile) +M=size(DR,1); +K=size(TD,1); +sigmaR = 100; % range standard deviation +sigmaInitial = 1; % draw initial landmark guess from Gaussian +useGroundTruth = false; +useRobust=true; +addRange=true; +batchInitialization=true; + +%% Set Noise parameters +noiseModels.prior = noiseModel.Diagonal.Sigmas([1 1 pi]'); +noiseModels.pointPrior = noiseModel.Diagonal.Sigmas([1 1]'); +noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.05 0.01 0.2]'); +if useRobust + base = noiseModel.mEstimator.Tukey(15); + noiseModels.range = noiseModel.Robust(base,noiseModel.Isotropic.Sigma(1, sigmaR)); +else + noiseModels.range = noiseModel.Isotropic.Sigma(1, sigmaR); +end + +%% Initialize iSAM +isam = ISAM2; + +%% Add prior on first pose +pose0 = Pose2(GT(1,2),GT(1,3),headingOffset+GT(1,4)); +newFactors = NonlinearFactorGraph; +if ~addRange | ~useGroundTruth + newFactors.add(PriorFactorPose2(0,pose0,noiseModels.prior)); +end +initial = Values; +initial.insert(0,pose0); +odo = Values; +odo.insert(0,pose0); + +%% initialize points +if addRange + landmarkEstimates = Values; + for i=1:size(TL,1) + j=TL(i,1); + if useGroundTruth + Lj = Point2(TL(i,2),TL(i,3)); + newFactors.add(PriorFactorPoint2(symbol('L',j),Lj,noiseModels.pointPrior)); + else + Lj = Point2(sigmaInitial*randn,sigmaInitial*randn); + end + initial.insert(symbol('L',j),Lj); + landmarkEstimates.insert(symbol('L',j),Lj); + end + XY = utilities.extractPoint2(initial); + plot(XY(:,1),XY(:,2),'g*'); +end + +%% Loop over odometry +tic +k = 1; % range measurement counter +update = false; +lastPose = pose0; +odoPose = pose0; +countK = 0; +for i=1:M % M + + % get odometry measurement + t = DR(i,1); + distance_traveled = DR(i,2); + delta_heading = DR(i,3); + + % add odometry factor + odometry = Pose2(distance_traveled,0,delta_heading); + newFactors.add(BetweenFactorPose2(i-1, i, odometry, noiseModels.odometry)); + + % predict pose and update odometry + predictedOdo = odoPose.compose(odometry); + odoPose = predictedOdo; + odo.insert(i,predictedOdo); + + % predict pose and add as initial estimate + predictedPose = lastPose.compose(odometry); + lastPose = predictedPose; + initial.insert(i,predictedPose); + landmarkEstimates.insert(i,predictedPose); + + % Check if there are range factors to be added + while k<=K && t>=TD(k,1) + j = TD(k,3); + range = TD(k,4); + if addRange + factor = RangeFactorPosePoint2(i, symbol('L',j), range, noiseModels.range); + % Throw out obvious outliers based on current landmark estimates + error=factor.unwhitenedError(landmarkEstimates); + if k<=minK || abs(error)<5 + newFactors.add(factor); + end + end + k=k+1; countK=countK+1; update = true; + end + + % Check whether to update iSAM 2 + if update && k>minK && countK>incK + if batchInitialization % Do a full optimize for first minK ranges + tic + batchOptimizer = LevenbergMarquardtOptimizer(newFactors, initial); + initial = batchOptimizer.optimize(); + toc + batchInitialization = false; % only once + end + isam.update(newFactors, initial); + result = isam.calculateEstimate(); + lastPose = result.at(i); + % update landmark estimates + if addRange + landmarkEstimates = Values; + for jj=1:size(TL,1) + j=TL(jj,1); + key = symbol('L',j); + landmarkEstimates.insert(key,result.at(key)); + end + end + newFactors = NonlinearFactorGraph; + initial = Values; + countK = 0; + end + + % visualize + if mod(i,50)==0 && k>minK + figure(1);clf;hold on + + % odometry + XYT = utilities.extractPose2(odo); + plot(XYT(:,1),XYT(:,2),'y-'); + + % lin point + lin = isam.getLinearizationPoint(); + XYT = utilities.extractPose2(lin); + plot(XYT(:,1),XYT(:,2),'r.'); + XY = utilities.extractPoint2(lin); + plot(XY(:,1),XY(:,2),'r*'); + + % result + result = isam.calculateEstimate(); + XYT = utilities.extractPose2(result); + plot(XYT(:,1),XYT(:,2),'k-'); + XY = utilities.extractPoint2(result); + plot(XY(:,1),XY(:,2),'k*'); + axis equal + % pause + end +end +toc + +%% Plot ground truth as well +plot(GT(:,2),GT(:,3),'g-'); +plot(TL(:,2),TL(:,3),'g*'); + + diff --git a/matlab/gtsam_examples/RangeSLAMExample_plaza.m b/matlab/gtsam_examples/RangeSLAMExample_plaza.m new file mode 100644 index 000000000..24619b69c --- /dev/null +++ b/matlab/gtsam_examples/RangeSLAMExample_plaza.m @@ -0,0 +1,109 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% GTSAM Copyright 2010, Georgia Tech Research Corporation, +% Atlanta, Georgia 30332-0415 +% All Rights Reserved +% Authors: Frank Dellaert, et al. (see THANKS for the full author list) +% +% See LICENSE for the license information +% +% @brief Read Robotics Institute range-only Plaza2 dataset and do SAM +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% preliminaries +clear +import gtsam.* + +%% Find and load data file +% data available at http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/ +% Datafile format (from http://www.frc.ri.cmu.edu/projects/emergencyresponse/RangeData/log.html) +% GT: Groundtruth path from GPS +% Time (sec) X_pose (m) Y_pose (m) Heading (rad) +% DR: Odometry Input (delta distance traveled and delta heading change) +% Time (sec) Delta Dist. Trav. (m) Delta Heading (rad) +% DRp: Dead Reckoned Path from Odometry +% Time (sec) X_pose (m) Y_pose (m) Heading (rad) +% TL: Surveyed Node Locations +% Time (sec) X_pose (m) Y_pose (m) +% TD +% Time (sec) Sender / Antenna ID Receiver Node ID Range (m) +datafile = findExampleDataFile('Plaza1_.mat'); +load(datafile) +M=size(DR,1); +K=size(TD,1); +sigmaR = 50; % range standard deviation +sigmaInitial = 1; % draw initial landmark guess from Gaussian + +%% Set Noise parameters +noiseModels.prior = noiseModel.Diagonal.Sigmas([1 1 pi]'); +noiseModels.pointPrior = noiseModel.Diagonal.Sigmas([1 1]'); +noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.05 0.01 0.2]'); +base = noiseModel.mEstimator.Tukey(5); +noiseModels.range = noiseModel.Robust(base,noiseModel.Isotropic.Sigma(1, sigmaR)); + +%% Add prior on first pose +pose0 = Pose2(GT(1,2),GT(1,3),GT(1,4)); +graph = NonlinearFactorGraph; +graph.add(PriorFactorPose2(0,pose0,noiseModels.prior)); +initial = Values; +initial.insert(0,pose0); + +for i=1:size(TL,1) + j=TL(i,1); + initial.insert(symbol('L',j),Point2(sigmaInitial*randn,sigmaInitial*randn)); +end + +%% Loop over odometry +tic +k = 1; % range measurement counter +lastPose = pose0; +for i=1:M + + % get odometry measurement + t = DR(i,1); + distance_traveled = DR(i,2); + delta_heading = DR(i,3); + + % add odometry factor + odometry = Pose2(distance_traveled,0,delta_heading); + graph.add(BetweenFactorPose2(i-1, i, odometry, noiseModels.odometry)); + + % predict pose and add as initial estimate + predictedPose = lastPose.compose(odometry); + lastPose = predictedPose; + initial.insert(i,predictedPose); + + while k<=K && t>=TD(k,1) + j = TD(k,3); + range = TD(k,4); + factor = RangeFactorPosePoint2(i, symbol('L',j), range, noiseModels.range); + graph.add(factor); + k=k+1; + end + +end +toc + +%% GRaph was built, optimize ! +tic +batchOptimizer = LevenbergMarquardtOptimizer(graph, initial); +result = batchOptimizer.optimize(); +toc + +%% visualize +figure(1);clf;hold on + +% odometry +XYT = utilities.extractPose2(initial); +plot(XYT(:,1),XYT(:,2),'y-'); + +% GT +plot(GT(:,2),GT(:,3),'g-'); +plot(TL(:,2),TL(:,3),'g*'); + +% result +XYT = utilities.extractPose2(result); +plot(XYT(:,1),XYT(:,2),'k-'); +XY = utilities.extractPoint2(result); +plot(XY(:,1),XY(:,2),'k*'); +axis equal diff --git a/matlab/gtsam_tests/testGraphValuesSerialization.m b/matlab/gtsam_tests/testGraphValuesSerialization.m deleted file mode 100644 index 5583dde76..000000000 --- a/matlab/gtsam_tests/testGraphValuesSerialization.m +++ /dev/null @@ -1,65 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% GTSAM Copyright 2010, Georgia Tech Research Corporation, -% Atlanta, Georgia 30332-0415 -% All Rights Reserved -% Authors: Frank Dellaert, et al. (see THANKS for the full author list) -% -% See LICENSE for the license information -% -% @brief Simple robotics example using the pre-built planar SLAM domain -% @author Alex Cunningham -% @author Frank Dellaert -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -import gtsam.* - -%% Create keys for variables -i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); -j1 = symbol('l',1); j2 = symbol('l',2); - -%% Create graph and factors -graph = NonlinearFactorGraph; - -% Prior factor - FAIL: unregistered class -priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); -graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); % add directly to graph - -% Between Factors - FAIL: unregistered class -odometry = Pose2(2.0, 0.0, 0.0); -odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); -graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise)); -graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise)); - -% BearingRange Factors - FAIL: unregistered class -degrees = pi/180; -brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); -graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise)); -graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise)); -graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise)); - -%% Create Values -values = Values; -values.insert(i1, Pose2(0.5, 0.0, 0.2)); -values.insert(i2, Pose2(2.3, 0.1,-0.2)); -values.insert(i3, Pose2(4.1, 0.1, 0.1)); -values.insert(j1, Point2(1.8, 2.1)); -values.insert(j2, Point2(4.1, 1.8)); - -%% Check that serialization works properly -serialized_values = serializeValues(values); % returns a string -deserializedValues = deserializeValues(serialized_values); % returns a new values -CHECK('values.equals(deserializedValues)',values.equals(deserializedValues,1e-9)); - -CHECK('serializeValuesToFile(values, values.dat)', serializeValuesToFile(values, 'values.dat')); -deserializedValuesFile = deserializeValuesFromFile('values.dat'); % returns a new values -CHECK('values.equals(deserializedValuesFile)',values.equals(deserializedValuesFile,1e-9)); - -% % FAIL: unregistered class - derived class not registered or exported -% serialized_graph = serializeGraph(graph); % returns a string -% deserializedGraph = deserializeGraph(serialized_graph); % returns a new graph -% CHECK('graph.equals(deserializedGraph)',graph.equals(deserializedGraph,1e-9)); -% -% CHECK('serializeGraphToFile(graph, graph.dat)', serializeGraphToFile(graph, 'graph.dat')); -% deserializedGraphFile = deserializeGraphFromFile('graph.dat'); % returns a new graph -% CHECK('graph.equals(deserializedGraphFile)',graph.equals(deserializedGraphFile,1e-9)); \ No newline at end of file diff --git a/matlab/gtsam_tests/testSerialization.m b/matlab/gtsam_tests/testSerialization.m new file mode 100644 index 000000000..9f49328cd --- /dev/null +++ b/matlab/gtsam_tests/testSerialization.m @@ -0,0 +1,70 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% GTSAM Copyright 2010, Georgia Tech Research Corporation, +% Atlanta, Georgia 30332-0415 +% All Rights Reserved +% Authors: Frank Dellaert, et al. (see THANKS for the full author list) +% +% See LICENSE for the license information +% +% @brief Checks for serialization using basic string interface +% @author Alex Cunningham +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +import gtsam.* + +%% Create keys for variables +i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); +j1 = symbol('l',1); j2 = symbol('l',2); + +%% Create values and verify string serialization +pose1=Pose2(0.5, 0.0, 0.2); +pose2=Pose2(2.3, 0.1,-0.2); +pose3=Pose2(4.1, 0.1, 0.1); +landmark1=Point2(1.8, 2.1); +landmark2=Point2(4.1, 1.8); + +serialized_pose1 = pose1.string_serialize(); +pose1ds = Pose2.string_deserialize(serialized_pose1); +CHECK('pose1ds.equals(pose1, 1e-9)', pose1ds.equals(pose1, 1e-9)); + +serialized_landmark1 = landmark1.string_serialize(); +landmark1ds = Point2.string_deserialize(serialized_landmark1); +CHECK('landmark1ds.equals(landmark1, 1e-9)', landmark1ds.equals(landmark1, 1e-9)); + +%% Create and serialize Values +values = Values; +values.insert(i1, pose1); +values.insert(i2, pose2); +values.insert(i3, pose3); +values.insert(j1, landmark1); +values.insert(j2, landmark2); + +serialized_values = values.string_serialize(); +valuesds = Values.string_deserialize(serialized_values); +CHECK('valuesds.equals(values, 1e-9)', valuesds.equals(values, 1e-9)); + +%% Create graph and factors and serialize +graph = NonlinearFactorGraph; + +% Prior factor +priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); +graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); % add directly to graph + +% Between Factors - FAIL: unregistered class +odometry = Pose2(2.0, 0.0, 0.0); +odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); +graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise)); +graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise)); + +% BearingRange Factors - FAIL: unregistered class +degrees = pi/180; +brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); +graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise)); +graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise)); +graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise)); + +serialized_graph = graph.string_serialize(); +graphds = NonlinearFactorGraph.string_deserialize(serialized_graph); +CHECK('graphds.equals(graph, 1e-9)', graphds.equals(graph, 1e-9)); \ No newline at end of file diff --git a/matlab/gtsam_tests/test_gtsam.m b/matlab/gtsam_tests/test_gtsam.m index 1f8125b81..2cad40df8 100644 --- a/matlab/gtsam_tests/test_gtsam.m +++ b/matlab/gtsam_tests/test_gtsam.m @@ -30,8 +30,8 @@ testStereoVOExample display 'Starting: testVisualISAMExample' testVisualISAMExample -display 'Starting: testGraphValuesSerialization' -testVisualISAMExample +display 'Starting: testSerialization' +testSerialization % end of tests display 'Tests complete!' diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index c9bda40dc..e07e0a6b0 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -22,10 +22,6 @@ if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") # might not be best test - Rich list (APPEND tests_exclude "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationSLAM.cpp") endif() -if(MSVC) - add_definitions("/bigobj") # testSerializationSLAM needs this -endif() - # Build tests if (GTSAM_BUILD_TESTS) # Subdirectory target for tests @@ -34,7 +30,7 @@ if (GTSAM_BUILD_TESTS) # Build grouped tests gtsam_add_grouped_scripts("tests" # Use subdirectory as group label - "test*.cpp" check "Test" # Standard for all tests + "test*.cpp;*.h" check "Test" # Standard for all tests "${tests_local_libs}" "${gtsam-default};CppUnitLite" "${tests_exclude}" # Pass in linking and exclusion lists ${is_test}) # Set all as tests endif (GTSAM_BUILD_TESTS) @@ -51,3 +47,8 @@ if (GTSAM_BUILD_TIMING) "${tests_local_libs}" "${gtsam-default};CppUnitLite" "${tests_exclude}" # Pass in linking and exclusion lists ${is_test}) endif (GTSAM_BUILD_TIMING) + +if(MSVC) + set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationSLAM.cpp" + APPEND PROPERTY COMPILE_FLAGS "/bigobj") +endif() diff --git a/tests/simulated2D.h b/tests/simulated2D.h index f7a9a9284..22f3ee776 100644 --- a/tests/simulated2D.h +++ b/tests/simulated2D.h @@ -83,42 +83,43 @@ namespace simulated2D { } }; + namespace { + /// Prior on a single pose + inline Point2 prior(const Point2& x) { + return x; + } - /// Prior on a single pose - inline Point2 prior(const Point2& x) { - return x; - } + /// Prior on a single pose, optionally returns derivative + Point2 prior(const Point2& x, boost::optional H = boost::none) { + if (H) *H = gtsam::eye(2); + return x; + } - /// Prior on a single pose, optionally returns derivative - Point2 prior(const Point2& x, boost::optional H = boost::none) { - if (H) *H = gtsam::eye(2); - return x; - } + /// odometry between two poses + inline Point2 odo(const Point2& x1, const Point2& x2) { + return x2 - x1; + } - /// odometry between two poses - inline Point2 odo(const Point2& x1, const Point2& x2) { - return x2 - x1; - } - - /// odometry between two poses, optionally returns derivative - Point2 odo(const Point2& x1, const Point2& x2, boost::optional H1 = + /// odometry between two poses, optionally returns derivative + Point2 odo(const Point2& x1, const Point2& x2, boost::optional H1 = boost::none, boost::optional H2 = boost::none) { - if (H1) *H1 = -gtsam::eye(2); - if (H2) *H2 = gtsam::eye(2); - return x2 - x1; - } + if (H1) *H1 = -gtsam::eye(2); + if (H2) *H2 = gtsam::eye(2); + return x2 - x1; + } - /// measurement between landmark and pose - inline Point2 mea(const Point2& x, const Point2& l) { - return l - x; - } + /// measurement between landmark and pose + inline Point2 mea(const Point2& x, const Point2& l) { + return l - x; + } - /// measurement between landmark and pose, optionally returns derivative - Point2 mea(const Point2& x, const Point2& l, boost::optional H1 = + /// measurement between landmark and pose, optionally returns derivative + Point2 mea(const Point2& x, const Point2& l, boost::optional H1 = boost::none, boost::optional H2 = boost::none) { - if (H1) *H1 = -gtsam::eye(2); - if (H2) *H2 = gtsam::eye(2); - return l - x; + if (H1) *H1 = -gtsam::eye(2); + if (H2) *H2 = gtsam::eye(2); + return l - x; + } } /** diff --git a/tests/smallExample.h b/tests/smallExample.h index ea9f30b54..eb87e84e2 100644 --- a/tests/smallExample.h +++ b/tests/smallExample.h @@ -28,6 +28,7 @@ namespace gtsam { namespace example { + namespace { typedef NonlinearFactorGraph Graph; @@ -150,13 +151,9 @@ Ordering planarOrdering(size_t N); std::pair splitOffPlanarTree( size_t N, const GaussianFactorGraph& original); -} // example -} // gtsam // Implementations -namespace gtsam { -namespace example { // using namespace gtsam::noiseModel; @@ -649,5 +646,6 @@ std::pair splitOffPlanarTree(size_t N /* ************************************************************************* */ +} // anonymous namespace } // \namespace example } // \namespace gtsam diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 6586fb061..eadaa1521 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -107,10 +107,12 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, // Methods BOOST_FOREACH(const Methods::value_type& name_m, methods) { const Method& m = name_m.second; - m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, typeAttributes, functionNames); + m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, typeAttributes, functionNames); proxyFile.oss << "\n"; wrapperFile.oss << "\n"; } + if (hasSerialization) + serialization_fragments(proxyFile, wrapperFile, wrapperName, functionNames); proxyFile.oss << " end\n"; proxyFile.oss << "\n"; @@ -123,7 +125,9 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, proxyFile.oss << "\n"; wrapperFile.oss << "\n"; } - + if (hasSerialization) + deserialization_fragments(proxyFile, wrapperFile, wrapperName, functionNames); + proxyFile.oss << " end\n"; proxyFile.oss << "end\n"; @@ -278,6 +282,7 @@ Class expandClassTemplate(const Class& cls, const string& templateArg, const vec inst.templateArgs = cls.templateArgs; inst.typedefName = cls.typedefName; inst.isVirtual = cls.isVirtual; + inst.isSerializable = cls.isSerializable; inst.qualifiedParent = cls.qualifiedParent; inst.methods = expandMethodTemplate(cls.methods, templateArg, instName, expandedClassNamespace, expandedClassName); inst.static_methods = expandMethodTemplate(cls.static_methods, templateArg, instName, expandedClassNamespace, expandedClassName); @@ -388,6 +393,169 @@ void Class::comment_fragment(FileWriter& proxyFile) const { } } + if (hasSerialization) { + proxyFile.oss << "%\n%-------Serialization Interface-------\n"; + proxyFile.oss << "%string_serialize() : returns string\n"; + proxyFile.oss << "%string_deserialize(string serialized) : returns " << this->name << "\n"; + } + proxyFile.oss << "%\n"; } + /* ************************************************************************* */ +void Class::serialization_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, + const std::string& wrapperName, std::vector& functionNames) const { + +//void Point3_string_serialize_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +//{ +// typedef boost::shared_ptr Shared; +// checkArguments("string_serialize",nargout,nargin-1,0); +// Shared obj = unwrap_shared_ptr(in[0], "ptr_Point3"); +// std::ostringstream out_archive_stream; +// boost::archive::text_oarchive out_archive(out_archive_stream); +// out_archive << *obj; +// out[0] = wrap< string >(out_archive_stream.str()); +//} + + int serialize_id = functionNames.size(); + const string + matlabQualName = qualifiedName("."), + matlabUniqueName = qualifiedName(), + cppClassName = qualifiedName("::"); + const string wrapFunctionNameSerialize = matlabUniqueName + "_string_serialize_" + boost::lexical_cast(serialize_id); + functionNames.push_back(wrapFunctionNameSerialize); + + // call + //void Point3_string_serialize_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) + wrapperFile.oss << "void " << wrapFunctionNameSerialize << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; + wrapperFile.oss << "{\n"; + wrapperFile.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; + + // check arguments - for serialize, no arguments + // example: checkArguments("string_serialize",nargout,nargin-1,0); + wrapperFile.oss << " checkArguments(\"string_serialize\",nargout,nargin-1,0);\n"; + + // get class pointer + // example: Shared obj = unwrap_shared_ptr(in[0], "ptr_Point3"); + wrapperFile.oss << " Shared obj = unwrap_shared_ptr<" << cppClassName << ">(in[0], \"ptr_" << matlabUniqueName << "\");" << endl; + + // Serialization boilerplate + wrapperFile.oss << " std::ostringstream out_archive_stream;\n"; + wrapperFile.oss << " boost::archive::text_oarchive out_archive(out_archive_stream);\n"; + wrapperFile.oss << " out_archive << *obj;\n"; + wrapperFile.oss << " out[0] = wrap< string >(out_archive_stream.str());\n"; + + // finish + wrapperFile.oss << "}\n"; + + // Generate code for matlab function +// function varargout string_serialize(this, varargin) +// % STRING_SERIALIZE usage: string_serialize() : returns string +// % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html +// if length(varargin) == 0 +// varargout{1} = geometry_wrapper(15, this, varargin{:}); +// else +// error('Arguments do not match any overload of function Point3.string_serialize'); +// end +// end + + proxyFile.oss << " function varargout = string_serialize(this, varargin)\n"; + proxyFile.oss << " % STRING_SERIALIZE usage: string_serialize() : returns string\n"; + proxyFile.oss << " % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html\n"; + proxyFile.oss << " if length(varargin) == 0\n"; + proxyFile.oss << " varargout{1} = " << wrapperName << "(" << boost::lexical_cast(serialize_id) << ", this, varargin{:});\n"; + proxyFile.oss << " else\n"; + proxyFile.oss << " error('Arguments do not match any overload of function " << matlabQualName << ".string_serialize');\n"; + proxyFile.oss << " end\n"; + proxyFile.oss << " end\n\n"; + + // Generate code for matlab save function +// function sobj = saveobj(obj) +// % SAVEOBJ Saves the object to a matlab-readable format +// sobj = obj.string_serialize(); +// end + + proxyFile.oss << " function sobj = saveobj(obj)\n"; + proxyFile.oss << " % SAVEOBJ Saves the object to a matlab-readable format\n"; + proxyFile.oss << " sobj = obj.string_serialize();\n"; +} + +/* ************************************************************************* */ +void Class::deserialization_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, + const std::string& wrapperName, std::vector& functionNames) const { + //void Point3_string_deserialize_18(int nargout, mxArray *out[], int nargin, const mxArray *in[]) + //{ + // typedef boost::shared_ptr Shared; + // checkArguments("Point3.string_deserialize",nargout,nargin,1); + // string serialized = unwrap< string >(in[0]); + // std::istringstream in_archive_stream(serialized); + // boost::archive::text_iarchive in_archive(in_archive_stream); + // Shared output(new Point3()); + // in_archive >> *output; + // out[0] = wrap_shared_ptr(output,"Point3", false); + //} + int deserialize_id = functionNames.size(); + const string + matlabQualName = qualifiedName("."), + matlabUniqueName = qualifiedName(), + cppClassName = qualifiedName("::"); + const string wrapFunctionNameDeserialize = matlabUniqueName + "_string_deserialize_" + boost::lexical_cast(deserialize_id); + functionNames.push_back(wrapFunctionNameDeserialize); + + // call + wrapperFile.oss << "void " << wrapFunctionNameDeserialize << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; + wrapperFile.oss << "{\n"; + wrapperFile.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; + + // check arguments - for deserialize, 1 string argument + wrapperFile.oss << " checkArguments(\"" << matlabUniqueName << ".string_deserialize\",nargout,nargin,1);\n"; + + // string argument with deserialization boilerplate + wrapperFile.oss << " string serialized = unwrap< string >(in[0]);\n"; + wrapperFile.oss << " std::istringstream in_archive_stream(serialized);\n"; + wrapperFile.oss << " boost::archive::text_iarchive in_archive(in_archive_stream);\n"; + wrapperFile.oss << " Shared output(new " << cppClassName << "());\n"; + wrapperFile.oss << " in_archive >> *output;\n"; + wrapperFile.oss << " out[0] = wrap_shared_ptr(output,\"" << matlabQualName << "\", false);\n"; + wrapperFile.oss << "}\n"; + + // Generate matlab function +// function varargout = string_deserialize(varargin) +// % STRING_DESERIALIZE usage: string_deserialize() : returns Point3 +// % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html +// if length(varargin) == 1 +// varargout{1} = geometry_wrapper(18, varargin{:}); +// else +// error('Arguments do not match any overload of function Point3.string_deserialize'); +// end +// end + + proxyFile.oss << " function varargout = string_deserialize(varargin)\n"; + proxyFile.oss << " % STRING_DESERIALIZE usage: string_deserialize() : returns " << matlabQualName << "\n"; + proxyFile.oss << " % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html\n"; + proxyFile.oss << " if length(varargin) == 1\n"; + proxyFile.oss << " varargout{1} = " << wrapperName << "(" << boost::lexical_cast(deserialize_id) << ", varargin{:});\n"; + proxyFile.oss << " else\n"; + proxyFile.oss << " error('Arguments do not match any overload of function " << matlabQualName << ".string_deserialize');\n"; + proxyFile.oss << " end\n"; + proxyFile.oss << " end\n\n"; + + + // Generate matlab load function +// function obj = loadobj(sobj) +// % LOADOBJ Saves the object to a matlab-readable format +// obj = Point3.string_deserialize(sobj); +// end + + proxyFile.oss << " function obj = loadobj(sobj)\n"; + proxyFile.oss << " % LOADOBJ Saves the object to a matlab-readable format\n"; + proxyFile.oss << " obj = " << matlabQualName << ".string_deserialize(sobj);\n"; + proxyFile.oss << " end" << endl; +} + +/* ************************************************************************* */ +std::string Class::getSerializationExport() const { + //BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsamSharedDiagonal"); + return "BOOST_CLASS_EXPORT_GUID(" + qualifiedName("::") + ", \"" + qualifiedName() + "\");"; +} +/* ************************************************************************* */ diff --git a/wrap/Class.h b/wrap/Class.h index 54db8970b..f5267cee2 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -37,13 +37,15 @@ struct Class { typedef std::map StaticMethods; /// Constructor creates an empty class - Class(bool verbose=true) : isVirtual(false), verbose_(verbose) {} + Class(bool verbose=true) : isVirtual(false), isSerializable(false), hasSerialization(false), verbose_(verbose) {} // Then the instance variables are set directly by the Module constructor std::string name; ///< Class name std::vector templateArgs; ///< Template arguments std::string typedefName; ///< The name to typedef *from*, if this class is actually a typedef, i.e. typedef [typedefName] [name] bool isVirtual; ///< Whether the class is part of a virtual inheritance chain + bool isSerializable; ///< Whether we can use boost.serialization to serialize the class - creates exports + bool hasSerialization; ///< Whether we should create the serialization functions std::vector qualifiedParent; ///< The *single* parent - the last string is the parent class name, preceededing elements are a namespace stack Methods methods; ///< Class methods StaticMethods static_methods; ///< Static methods @@ -55,14 +57,26 @@ struct Class { // And finally MATLAB code is emitted, methods below called by Module::matlab_code void matlab_proxy(const std::string& toolboxPath, const std::string& wrapperName, const TypeAttributesTable& typeAttributes, FileWriter& wrapperFile, std::vector& functionNames) const; ///< emit proxy class + std::string qualifiedName(const std::string& delim = "") const; ///< creates a namespace-qualified name, optional delimiter std::vector expandTemplate(const std::string& templateArg, const std::vector >& instantiations) const; + Class expandTemplate(const std::string& templateArg, const std::vector& instantiation, const std::vector& expandedClassNamespace, const std::string& expandedClassName) const; // The typedef line for this class, if this class is a typedef, otherwise returns an empty string. std::string getTypedef() const; + // Returns the string for an export flag + std::string getSerializationExport() const; + + // Creates a member function that performs serialization + void serialization_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, + const std::string& wrapperName, std::vector& functionNames) const; + + // Creates a static member function that performs deserialization + void deserialization_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, + const std::string& wrapperName, std::vector& functionNames) const; private: void pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const std::string& wrapperName, std::vector& functionNames) const; diff --git a/wrap/Module.cpp b/wrap/Module.cpp index d5bbd881e..a31f57e79 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -378,13 +378,28 @@ void Module::parseMarkup(const std::string& data) { throw ParseFailed((int)info.length); } - //Explicitly add methods to the classes from parents so it shows in documentation + // Post-process classes for serialization markers + BOOST_FOREACH(Class& cls, classes) { + Class::Methods::iterator serializable_it = cls.methods.find("serializable"); + if (serializable_it != cls.methods.end()) { + cls.isSerializable = true; + cls.methods.erase(serializable_it); + } + + Class::Methods::iterator serialize_it = cls.methods.find("serialize"); + if (serialize_it != cls.methods.end()) { + cls.isSerializable = true; + cls.hasSerialization= true; + cls.methods.erase(serialize_it); + } + } + + // Explicitly add methods to the classes from parents so it shows in documentation BOOST_FOREACH(Class& cls, classes) { map inhereted = appendInheretedMethods(cls, classes); cls.methods.insert(inhereted.begin(), inhereted.end()); } - } /* ************************************************************************* */ @@ -440,16 +455,6 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co fs::create_directories(toolboxPath); - // create the unified .cpp switch file - const string wrapperName = name + "_wrapper"; - string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp"; - FileWriter wrapperFile(wrapperFileName, verbose, "//"); - vector functionNames; // Function names stored by index for switch - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "\n"; - // Expand templates - This is done first so that template instantiations are // counted in the list of valid types, have their attributes and dependencies // checked, etc. @@ -462,7 +467,9 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co verifyArguments(validTypes, global_functions); verifyReturnTypes(validTypes, global_functions); + bool hasSerialiable = false; BOOST_FOREACH(const Class& cls, expandedClasses) { + hasSerialiable |= cls.isSerializable; // verify all of the function arguments //TODO:verifyArguments(validTypes, cls.constructor.args_list); verifyArguments(validTypes, cls.static_methods); @@ -475,7 +482,6 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co // verify parents if(!cls.qualifiedParent.empty() && std::find(validTypes.begin(), validTypes.end(), wrap::qualifiedName("::", cls.qualifiedParent)) == validTypes.end()) throw DependencyMissing(wrap::qualifiedName("::", cls.qualifiedParent), cls.qualifiedName("::")); - } // Create type attributes table and check validity @@ -484,6 +490,22 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co typeAttributes.addForwardDeclarations(forward_declarations); typeAttributes.checkValidity(expandedClasses); + // create the unified .cpp switch file + const string wrapperName = name + "_wrapper"; + string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp"; + FileWriter wrapperFile(wrapperFileName, verbose, "//"); + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "\n"; + + // Include boost.serialization archive headers before other class headers + if (hasSerialiable) { + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n\n"; + } + // Generate includes while avoiding redundant includes generateIncludes(wrapperFile); @@ -494,12 +516,23 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co } wrapperFile.oss << "\n"; + // Generate boost.serialization export flags (needs typedefs from above) + if (hasSerialiable) { + BOOST_FOREACH(const Class& cls, expandedClasses) { + if(cls.isSerializable) + wrapperFile.oss << cls.getSerializationExport() << "\n"; + } + wrapperFile.oss << "\n"; + } + // Generate collectors and cleanup function to be called from mexAtExit WriteCollectorsAndCleanupFcn(wrapperFile, name, expandedClasses); // generate RTTI registry (for returning derived-most types) WriteRTTIRegistry(wrapperFile, name, expandedClasses); + vector functionNames; // Function names stored by index for switch + // create proxy class and wrapper code BOOST_FOREACH(const Class& cls, expandedClasses) { cls.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames); diff --git a/wrap/tests/expected/Point3.m b/wrap/tests/expected/Point3.m index 3a90f1982..775eca916 100644 --- a/wrap/tests/expected/Point3.m +++ b/wrap/tests/expected/Point3.m @@ -11,6 +11,10 @@ %StaticFunctionRet(double z) : returns Point3 %staticFunction() : returns double % +%-------Serialization Interface------- +%string_serialize() : returns string +%string_deserialize(string serialized) : returns Point3 +% classdef Point3 < handle properties ptr_Point3 = 0 @@ -49,6 +53,19 @@ classdef Point3 < handle end end + function varargout = string_serialize(this, varargin) + % STRING_SERIALIZE usage: string_serialize() : returns string + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + if length(varargin) == 0 + varargout{1} = geometry_wrapper(15, this, varargin{:}); + else + error('Arguments do not match any overload of function Point3.string_serialize'); + end + end + + function sobj = saveobj(obj) + % SAVEOBJ Saves the object to a matlab-readable format + sobj = obj.string_serialize(); end methods(Static = true) @@ -59,7 +76,7 @@ classdef Point3 < handle % Usage % STATICFUNCTIONRET(double z) if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(15, varargin{:}); + varargout{1} = geometry_wrapper(16, varargin{:}); else error('Arguments do not match any overload of function Point3.StaticFunctionRet'); end @@ -72,11 +89,25 @@ classdef Point3 < handle % Usage % STATICFUNCTION() if length(varargin) == 0 - varargout{1} = geometry_wrapper(16, varargin{:}); + varargout{1} = geometry_wrapper(17, varargin{:}); else error('Arguments do not match any overload of function Point3.StaticFunction'); end end + function varargout = string_deserialize(varargin) + % STRING_DESERIALIZE usage: string_deserialize() : returns Point3 + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + if length(varargin) == 1 + varargout{1} = geometry_wrapper(18, varargin{:}); + else + error('Arguments do not match any overload of function Point3.string_deserialize'); + end + end + + function obj = loadobj(sobj) + % LOADOBJ Saves the object to a matlab-readable format + obj = Point3.string_deserialize(sobj); + end end end diff --git a/wrap/tests/expected/Test.m b/wrap/tests/expected/Test.m index e493b9a04..8e56df6fc 100644 --- a/wrap/tests/expected/Test.m +++ b/wrap/tests/expected/Test.m @@ -34,11 +34,11 @@ classdef Test < handle function obj = Test(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; - geometry_wrapper(17, my_ptr); + geometry_wrapper(19, my_ptr); elseif nargin == 0 - my_ptr = geometry_wrapper(18); + my_ptr = geometry_wrapper(20); elseif nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double') - my_ptr = geometry_wrapper(19, varargin{1}, varargin{2}); + my_ptr = geometry_wrapper(21, varargin{1}, varargin{2}); else error('Arguments do not match any overload of Test constructor'); end @@ -46,7 +46,7 @@ classdef Test < handle end function delete(obj) - geometry_wrapper(20, obj.ptr_Test); + geometry_wrapper(22, obj.ptr_Test); end function display(obj), obj.print(''); end @@ -60,7 +60,7 @@ classdef Test < handle % Method Overloads % arg_EigenConstRef(Matrix value) if length(varargin) == 1 && isa(varargin{1},'double') - geometry_wrapper(21, this, varargin{:}); + geometry_wrapper(23, this, varargin{:}); else error('Arguments do not match any overload of function Test.arg_EigenConstRef'); end @@ -73,7 +73,7 @@ classdef Test < handle % Method Overloads % create_MixedPtrs() if length(varargin) == 0 - [ varargout{1} varargout{2} ] = geometry_wrapper(22, this, varargin{:}); + [ varargout{1} varargout{2} ] = geometry_wrapper(24, this, varargin{:}); else error('Arguments do not match any overload of function Test.create_MixedPtrs'); end @@ -86,7 +86,7 @@ classdef Test < handle % Method Overloads % create_ptrs() if length(varargin) == 0 - [ varargout{1} varargout{2} ] = geometry_wrapper(23, this, varargin{:}); + [ varargout{1} varargout{2} ] = geometry_wrapper(25, this, varargin{:}); else error('Arguments do not match any overload of function Test.create_ptrs'); end @@ -99,7 +99,7 @@ classdef Test < handle % Method Overloads % print() if length(varargin) == 0 - geometry_wrapper(24, this, varargin{:}); + geometry_wrapper(26, this, varargin{:}); else error('Arguments do not match any overload of function Test.print'); end @@ -112,7 +112,7 @@ classdef Test < handle % Method Overloads % return_Point2Ptr(bool value) if length(varargin) == 1 && isa(varargin{1},'logical') - varargout{1} = geometry_wrapper(25, this, varargin{:}); + varargout{1} = geometry_wrapper(27, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_Point2Ptr'); end @@ -125,7 +125,7 @@ classdef Test < handle % Method Overloads % return_Test(Test value) if length(varargin) == 1 && isa(varargin{1},'Test') - varargout{1} = geometry_wrapper(26, this, varargin{:}); + varargout{1} = geometry_wrapper(28, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_Test'); end @@ -138,7 +138,7 @@ classdef Test < handle % Method Overloads % return_TestPtr(Test value) if length(varargin) == 1 && isa(varargin{1},'Test') - varargout{1} = geometry_wrapper(27, this, varargin{:}); + varargout{1} = geometry_wrapper(29, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_TestPtr'); end @@ -151,7 +151,7 @@ classdef Test < handle % Method Overloads % return_bool(bool value) if length(varargin) == 1 && isa(varargin{1},'logical') - varargout{1} = geometry_wrapper(28, this, varargin{:}); + varargout{1} = geometry_wrapper(30, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_bool'); end @@ -164,7 +164,7 @@ classdef Test < handle % Method Overloads % return_double(double value) if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(29, this, varargin{:}); + varargout{1} = geometry_wrapper(31, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_double'); end @@ -177,7 +177,7 @@ classdef Test < handle % Method Overloads % return_field(Test t) if length(varargin) == 1 && isa(varargin{1},'Test') - varargout{1} = geometry_wrapper(30, this, varargin{:}); + varargout{1} = geometry_wrapper(32, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_field'); end @@ -190,7 +190,7 @@ classdef Test < handle % Method Overloads % return_int(int value) if length(varargin) == 1 && isa(varargin{1},'numeric') - varargout{1} = geometry_wrapper(31, this, varargin{:}); + varargout{1} = geometry_wrapper(33, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_int'); end @@ -203,7 +203,7 @@ classdef Test < handle % Method Overloads % return_matrix1(Matrix value) if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(32, this, varargin{:}); + varargout{1} = geometry_wrapper(34, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_matrix1'); end @@ -216,7 +216,7 @@ classdef Test < handle % Method Overloads % return_matrix2(Matrix value) if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(33, this, varargin{:}); + varargout{1} = geometry_wrapper(35, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_matrix2'); end @@ -229,7 +229,7 @@ classdef Test < handle % Method Overloads % return_pair(Vector v, Matrix A) if length(varargin) == 2 && isa(varargin{1},'double') && isa(varargin{2},'double') - [ varargout{1} varargout{2} ] = geometry_wrapper(34, this, varargin{:}); + [ varargout{1} varargout{2} ] = geometry_wrapper(36, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_pair'); end @@ -242,7 +242,7 @@ classdef Test < handle % Method Overloads % return_ptrs(Test p1, Test p2) if length(varargin) == 2 && isa(varargin{1},'Test') && isa(varargin{2},'Test') - [ varargout{1} varargout{2} ] = geometry_wrapper(35, this, varargin{:}); + [ varargout{1} varargout{2} ] = geometry_wrapper(37, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_ptrs'); end @@ -255,7 +255,7 @@ classdef Test < handle % Method Overloads % return_size_t(size_t value) if length(varargin) == 1 && isa(varargin{1},'numeric') - varargout{1} = geometry_wrapper(36, this, varargin{:}); + varargout{1} = geometry_wrapper(38, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_size_t'); end @@ -268,7 +268,7 @@ classdef Test < handle % Method Overloads % return_string(string value) if length(varargin) == 1 && isa(varargin{1},'char') - varargout{1} = geometry_wrapper(37, this, varargin{:}); + varargout{1} = geometry_wrapper(39, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_string'); end @@ -281,7 +281,7 @@ classdef Test < handle % Method Overloads % return_vector1(Vector value) if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(38, this, varargin{:}); + varargout{1} = geometry_wrapper(40, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_vector1'); end @@ -294,7 +294,7 @@ classdef Test < handle % Method Overloads % return_vector2(Vector value) if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(39, this, varargin{:}); + varargout{1} = geometry_wrapper(41, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_vector2'); end diff --git a/wrap/tests/expected/aGlobalFunction.m b/wrap/tests/expected/aGlobalFunction.m index cee69491c..09ece0b83 100644 --- a/wrap/tests/expected/aGlobalFunction.m +++ b/wrap/tests/expected/aGlobalFunction.m @@ -1,6 +1,6 @@ function varargout = aGlobalFunction(varargin) if length(varargin) == 0 - varargout{1} = geometry_wrapper(40, varargin{:}); + varargout{1} = geometry_wrapper(42, varargin{:}); else error('Arguments do not match any overload of function aGlobalFunction'); end diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp index ad1df801c..e00004d57 100644 --- a/wrap/tests/expected/geometry_wrapper.cpp +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -2,9 +2,16 @@ #include #include +#include +#include +#include + #include +BOOST_CLASS_EXPORT_GUID(Point2, "Point2"); +BOOST_CLASS_EXPORT_GUID(Point3, "Point3"); + typedef std::set*> Collector_Point2; static Collector_Point2 collector_Point2; typedef std::set*> Collector_Point3; @@ -220,7 +227,17 @@ void Point3_norm_14(int nargout, mxArray *out[], int nargin, const mxArray *in[] out[0] = wrap< double >(obj->norm()); } -void Point3_StaticFunctionRet_15(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Point3_string_serialize_15(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("string_serialize",nargout,nargin-1,0); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Point3"); + std::ostringstream out_archive_stream; + boost::archive::text_oarchive out_archive(out_archive_stream); + out_archive << *obj; + out[0] = wrap< string >(out_archive_stream.str()); +} +void Point3_StaticFunctionRet_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr SharedPoint3; typedef boost::shared_ptr Shared; @@ -229,14 +246,25 @@ void Point3_StaticFunctionRet_15(int nargout, mxArray *out[], int nargin, const out[0] = wrap_shared_ptr(SharedPoint3(new Point3(Point3::StaticFunctionRet(z))),"Point3", false); } -void Point3_staticFunction_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Point3_staticFunction_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("Point3.staticFunction",nargout,nargin,0); out[0] = wrap< double >(Point3::staticFunction()); } -void Test_collectorInsertAndMakeBase_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Point3_string_deserialize_18(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("Point3.string_deserialize",nargout,nargin,1); + string serialized = unwrap< string >(in[0]); + std::istringstream in_archive_stream(serialized); + boost::archive::text_iarchive in_archive(in_archive_stream); + Shared output(new Point3()); + in_archive >> *output; + out[0] = wrap_shared_ptr(output,"Point3", false); +} +void Test_collectorInsertAndMakeBase_19(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); typedef boost::shared_ptr Shared; @@ -245,7 +273,7 @@ void Test_collectorInsertAndMakeBase_17(int nargout, mxArray *out[], int nargin, collector_Test.insert(self); } -void Test_constructor_18(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_constructor_20(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); typedef boost::shared_ptr Shared; @@ -256,7 +284,7 @@ void Test_constructor_18(int nargout, mxArray *out[], int nargin, const mxArray *reinterpret_cast (mxGetData(out[0])) = self; } -void Test_constructor_19(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_constructor_21(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); typedef boost::shared_ptr Shared; @@ -269,7 +297,7 @@ void Test_constructor_19(int nargout, mxArray *out[], int nargin, const mxArray *reinterpret_cast (mxGetData(out[0])) = self; } -void Test_deconstructor_20(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_deconstructor_22(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("delete_Test",nargout,nargin,1); @@ -282,7 +310,7 @@ void Test_deconstructor_20(int nargout, mxArray *out[], int nargin, const mxArra } } -void Test_arg_EigenConstRef_21(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_arg_EigenConstRef_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("arg_EigenConstRef",nargout,nargin-1,1); @@ -291,7 +319,7 @@ void Test_arg_EigenConstRef_21(int nargout, mxArray *out[], int nargin, const mx obj->arg_EigenConstRef(value); } -void Test_create_MixedPtrs_22(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_create_MixedPtrs_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr SharedTest; @@ -303,7 +331,7 @@ void Test_create_MixedPtrs_22(int nargout, mxArray *out[], int nargin, const mxA out[1] = wrap_shared_ptr(pairResult.second,"Test", false); } -void Test_create_ptrs_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_create_ptrs_25(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr SharedTest; @@ -315,7 +343,7 @@ void Test_create_ptrs_23(int nargout, mxArray *out[], int nargin, const mxArray out[1] = wrap_shared_ptr(pairResult.second,"Test", false); } -void Test_print_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_print_26(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("print",nargout,nargin-1,0); @@ -323,7 +351,7 @@ void Test_print_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) obj->print(); } -void Test_return_Point2Ptr_25(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_Point2Ptr_27(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr SharedPoint2; typedef boost::shared_ptr Shared; @@ -333,7 +361,7 @@ void Test_return_Point2Ptr_25(int nargout, mxArray *out[], int nargin, const mxA out[0] = wrap_shared_ptr(obj->return_Point2Ptr(value),"Point2", false); } -void Test_return_Test_26(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_Test_28(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr Shared; @@ -343,7 +371,7 @@ void Test_return_Test_26(int nargout, mxArray *out[], int nargin, const mxArray out[0] = wrap_shared_ptr(SharedTest(new Test(obj->return_Test(value))),"Test", false); } -void Test_return_TestPtr_27(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_TestPtr_29(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr Shared; @@ -353,7 +381,7 @@ void Test_return_TestPtr_27(int nargout, mxArray *out[], int nargin, const mxArr out[0] = wrap_shared_ptr(obj->return_TestPtr(value),"Test", false); } -void Test_return_bool_28(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_bool_30(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("return_bool",nargout,nargin-1,1); @@ -362,7 +390,7 @@ void Test_return_bool_28(int nargout, mxArray *out[], int nargin, const mxArray out[0] = wrap< bool >(obj->return_bool(value)); } -void Test_return_double_29(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_double_31(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("return_double",nargout,nargin-1,1); @@ -371,7 +399,7 @@ void Test_return_double_29(int nargout, mxArray *out[], int nargin, const mxArra out[0] = wrap< double >(obj->return_double(value)); } -void Test_return_field_30(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_field_32(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("return_field",nargout,nargin-1,1); @@ -380,7 +408,7 @@ void Test_return_field_30(int nargout, mxArray *out[], int nargin, const mxArray out[0] = wrap< bool >(obj->return_field(t)); } -void Test_return_int_31(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_int_33(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("return_int",nargout,nargin-1,1); @@ -389,7 +417,7 @@ void Test_return_int_31(int nargout, mxArray *out[], int nargin, const mxArray * out[0] = wrap< int >(obj->return_int(value)); } -void Test_return_matrix1_32(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_matrix1_34(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("return_matrix1",nargout,nargin-1,1); @@ -398,7 +426,7 @@ void Test_return_matrix1_32(int nargout, mxArray *out[], int nargin, const mxArr out[0] = wrap< Matrix >(obj->return_matrix1(value)); } -void Test_return_matrix2_33(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_matrix2_35(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("return_matrix2",nargout,nargin-1,1); @@ -407,7 +435,7 @@ void Test_return_matrix2_33(int nargout, mxArray *out[], int nargin, const mxArr out[0] = wrap< Matrix >(obj->return_matrix2(value)); } -void Test_return_pair_34(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_pair_36(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("return_pair",nargout,nargin-1,2); @@ -419,7 +447,7 @@ void Test_return_pair_34(int nargout, mxArray *out[], int nargin, const mxArray out[1] = wrap< Matrix >(pairResult.second); } -void Test_return_ptrs_35(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_ptrs_37(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr SharedTest; @@ -433,7 +461,7 @@ void Test_return_ptrs_35(int nargout, mxArray *out[], int nargin, const mxArray out[1] = wrap_shared_ptr(pairResult.second,"Test", false); } -void Test_return_size_t_36(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_size_t_38(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("return_size_t",nargout,nargin-1,1); @@ -442,7 +470,7 @@ void Test_return_size_t_36(int nargout, mxArray *out[], int nargin, const mxArra out[0] = wrap< size_t >(obj->return_size_t(value)); } -void Test_return_string_37(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_string_39(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("return_string",nargout,nargin-1,1); @@ -451,7 +479,7 @@ void Test_return_string_37(int nargout, mxArray *out[], int nargin, const mxArra out[0] = wrap< string >(obj->return_string(value)); } -void Test_return_vector1_38(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_vector1_40(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("return_vector1",nargout,nargin-1,1); @@ -460,7 +488,7 @@ void Test_return_vector1_38(int nargout, mxArray *out[], int nargin, const mxArr out[0] = wrap< Vector >(obj->return_vector1(value)); } -void Test_return_vector2_39(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_return_vector2_41(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("return_vector2",nargout,nargin-1,1); @@ -469,7 +497,7 @@ void Test_return_vector2_39(int nargout, mxArray *out[], int nargin, const mxArr out[0] = wrap< Vector >(obj->return_vector2(value)); } -void aGlobalFunction_40(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void aGlobalFunction_42(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("aGlobalFunction",nargout,nargin,0); out[0] = wrap< Vector >(aGlobalFunction()); @@ -532,82 +560,88 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) Point3_norm_14(nargout, out, nargin-1, in+1); break; case 15: - Point3_StaticFunctionRet_15(nargout, out, nargin-1, in+1); + Point3_string_serialize_15(nargout, out, nargin-1, in+1); break; case 16: - Point3_staticFunction_16(nargout, out, nargin-1, in+1); + Point3_StaticFunctionRet_16(nargout, out, nargin-1, in+1); break; case 17: - Test_collectorInsertAndMakeBase_17(nargout, out, nargin-1, in+1); + Point3_staticFunction_17(nargout, out, nargin-1, in+1); break; case 18: - Test_constructor_18(nargout, out, nargin-1, in+1); + Point3_string_deserialize_18(nargout, out, nargin-1, in+1); break; case 19: - Test_constructor_19(nargout, out, nargin-1, in+1); + Test_collectorInsertAndMakeBase_19(nargout, out, nargin-1, in+1); break; case 20: - Test_deconstructor_20(nargout, out, nargin-1, in+1); + Test_constructor_20(nargout, out, nargin-1, in+1); break; case 21: - Test_arg_EigenConstRef_21(nargout, out, nargin-1, in+1); + Test_constructor_21(nargout, out, nargin-1, in+1); break; case 22: - Test_create_MixedPtrs_22(nargout, out, nargin-1, in+1); + Test_deconstructor_22(nargout, out, nargin-1, in+1); break; case 23: - Test_create_ptrs_23(nargout, out, nargin-1, in+1); + Test_arg_EigenConstRef_23(nargout, out, nargin-1, in+1); break; case 24: - Test_print_24(nargout, out, nargin-1, in+1); + Test_create_MixedPtrs_24(nargout, out, nargin-1, in+1); break; case 25: - Test_return_Point2Ptr_25(nargout, out, nargin-1, in+1); + Test_create_ptrs_25(nargout, out, nargin-1, in+1); break; case 26: - Test_return_Test_26(nargout, out, nargin-1, in+1); + Test_print_26(nargout, out, nargin-1, in+1); break; case 27: - Test_return_TestPtr_27(nargout, out, nargin-1, in+1); + Test_return_Point2Ptr_27(nargout, out, nargin-1, in+1); break; case 28: - Test_return_bool_28(nargout, out, nargin-1, in+1); + Test_return_Test_28(nargout, out, nargin-1, in+1); break; case 29: - Test_return_double_29(nargout, out, nargin-1, in+1); + Test_return_TestPtr_29(nargout, out, nargin-1, in+1); break; case 30: - Test_return_field_30(nargout, out, nargin-1, in+1); + Test_return_bool_30(nargout, out, nargin-1, in+1); break; case 31: - Test_return_int_31(nargout, out, nargin-1, in+1); + Test_return_double_31(nargout, out, nargin-1, in+1); break; case 32: - Test_return_matrix1_32(nargout, out, nargin-1, in+1); + Test_return_field_32(nargout, out, nargin-1, in+1); break; case 33: - Test_return_matrix2_33(nargout, out, nargin-1, in+1); + Test_return_int_33(nargout, out, nargin-1, in+1); break; case 34: - Test_return_pair_34(nargout, out, nargin-1, in+1); + Test_return_matrix1_34(nargout, out, nargin-1, in+1); break; case 35: - Test_return_ptrs_35(nargout, out, nargin-1, in+1); + Test_return_matrix2_35(nargout, out, nargin-1, in+1); break; case 36: - Test_return_size_t_36(nargout, out, nargin-1, in+1); + Test_return_pair_36(nargout, out, nargin-1, in+1); break; case 37: - Test_return_string_37(nargout, out, nargin-1, in+1); + Test_return_ptrs_37(nargout, out, nargin-1, in+1); break; case 38: - Test_return_vector1_38(nargout, out, nargin-1, in+1); + Test_return_size_t_38(nargout, out, nargin-1, in+1); break; case 39: - Test_return_vector2_39(nargout, out, nargin-1, in+1); + Test_return_string_39(nargout, out, nargin-1, in+1); break; case 40: - aGlobalFunction_40(nargout, out, nargin-1, in+1); + Test_return_vector1_40(nargout, out, nargin-1, in+1); + break; + case 41: + Test_return_vector2_41(nargout, out, nargin-1, in+1); + break; + case 42: + aGlobalFunction_42(nargout, out, nargin-1, in+1); break; } } catch(const std::exception& e) { diff --git a/wrap/tests/geometry.h b/wrap/tests/geometry.h index 13553e986..bdced45ed 100644 --- a/wrap/tests/geometry.h +++ b/wrap/tests/geometry.h @@ -13,6 +13,8 @@ class Point2 { void argChar(char a) const; void argUChar(unsigned char a) const; VectorNotEigen vectorConfusion(); + + void serializable() const; // Sets flag and creates export, but does not make serialization functions }; class Point3 { @@ -22,6 +24,9 @@ class Point3 { // static functions - use static keyword and uppercase static double staticFunction(); static Point3 StaticFunctionRet(double z); + + // enabling serialization functionality + void serialize() const; // Just triggers a flag internally and removes actual function }; // another comment diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index 648058c6d..461f00405 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -219,6 +219,10 @@ TEST( wrap, parse_geometry ) { EXPECT_LONGS_EQUAL(0, cls.static_methods.size()); EXPECT_LONGS_EQUAL(0, cls.namespaces.size()); + + // check serialization flag + EXPECT(cls.isSerializable); + EXPECT(!cls.hasSerialization); } // check second class, Point3 @@ -251,6 +255,10 @@ TEST( wrap, parse_geometry ) { LONGS_EQUAL(1, m1.argLists.size()); EXPECT_LONGS_EQUAL(0, m1.argLists.front().size()); EXPECT(m1.is_const_); + + // check serialization flag + EXPECT(cls.isSerializable); + EXPECT(cls.hasSerialization); } // Test class is the third one