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testable assertions work

release/4.3a0
kartik arcot 2023-01-11 14:58:19 -08:00
parent 236c02eb52
commit 18562e97ae
3 changed files with 15 additions and 20 deletions
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20
gtsam/base/TestableAssertions.h
View File

@ -20,7 +20,7 @@
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <gtsam/global_includes.h> #include <gtsam/global_includes.h>
#include <boost/optional.hpp> #include <optional>
#include <map> #include <map>
#include <iostream> #include <iostream>
#include <sstream> #include <sstream>
@ -40,15 +40,15 @@ inline bool assert_equal(const Key& expected, const Key& actual, double tol = 0.
} }
/** /**
* Comparisons for boost.optional objects that checks whether objects exist * Comparisons for std.optional objects that checks whether objects exist
* before comparing their values. First version allows for both to be * before comparing their values. First version allows for both to be
* boost::none, but the second, with expected given rather than optional * std::nullopt, but the second, with expected given rather than optional
* *
* Concept requirement: V is testable * Concept requirement: V is testable
*/ */
template<class V> template<class V>
bool assert_equal(const boost::optional<V>& expected, bool assert_equal(const std::optional<V>& expected,
const boost::optional<V>& actual, double tol = 1e-9) { const std::optional<V>& actual, double tol = 1e-9) {
if (!expected && actual) { if (!expected && actual) {
std::cout << "expected is boost::none, while actual is not" << std::endl; std::cout << "expected is boost::none, while actual is not" << std::endl;
return false; return false;
@ -63,7 +63,7 @@ bool assert_equal(const boost::optional<V>& expected,
} }
template<class V> template<class V>
bool assert_equal(const V& expected, const boost::optional<V>& actual, double tol = 1e-9) { bool assert_equal(const V& expected, const std::optional<V>& actual, double tol = 1e-9) {
if (!actual) { if (!actual) {
std::cout << "actual is boost::none" << std::endl; std::cout << "actual is boost::none" << std::endl;
return false; return false;
@ -71,14 +71,6 @@ bool assert_equal(const V& expected, const boost::optional<V>& actual, double to
return assert_equal(expected, *actual, tol); return assert_equal(expected, *actual, tol);
} }
template<class V>
bool assert_equal(const V& expected, const boost::optional<const V&>& actual, double tol = 1e-9) {
if (!actual) {
std::cout << "actual is boost::none" << std::endl;
return false;
}
return assert_equal(expected, *actual, tol);
}
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
/** /**

4
gtsam/nonlinear/LinearContainerFactor.cpp
View File

@ -21,13 +21,13 @@ void LinearContainerFactor::initializeLinearizationPoint(const Values& lineariza
linearizationPoint_->insert(key, linearizationPoint.at(key)); linearizationPoint_->insert(key, linearizationPoint.at(key));
} }
} else { } else {
linearizationPoint_ = boost::none; linearizationPoint_ = {};
} }
} }
/* ************************************************************************* */ /* ************************************************************************* */
LinearContainerFactor::LinearContainerFactor(const GaussianFactor::shared_ptr& factor, LinearContainerFactor::LinearContainerFactor(const GaussianFactor::shared_ptr& factor,
const boost::optional<Values>& linearizationPoint) const std::optional<Values>& linearizationPoint)
: NonlinearFactor(factor->keys()), factor_(factor), linearizationPoint_(linearizationPoint) { : NonlinearFactor(factor->keys()), factor_(factor), linearizationPoint_(linearizationPoint) {
} }

11
gtsam/nonlinear/LinearContainerFactor.h
View File

@ -10,6 +10,9 @@
#pragma once #pragma once
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/base/std_optional_serialization.h>
#include <optional>
namespace gtsam { namespace gtsam {
@ -27,10 +30,10 @@ class GTSAM_EXPORT LinearContainerFactor : public NonlinearFactor {
protected: protected:
GaussianFactor::shared_ptr factor_; GaussianFactor::shared_ptr factor_;
boost::optional<Values> linearizationPoint_; std::optional<Values> linearizationPoint_;
/** direct copy constructor */ /** direct copy constructor */
LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const boost::optional<Values>& linearizationPoint); LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const std::optional<Values>& linearizationPoint);
// Some handy typedefs // Some handy typedefs
typedef NonlinearFactor Base; typedef NonlinearFactor Base;
@ -80,7 +83,7 @@ public:
size_t dim() const override; size_t dim() const override;
/** Extract the linearization point used in recalculating error */ /** Extract the linearization point used in recalculating error */
const boost::optional<Values>& linearizationPoint() const { return linearizationPoint_; } const std::optional<Values>& linearizationPoint() const { return linearizationPoint_; }
/** /**
* Linearize to a GaussianFactor, with method depending on the presence of a linearizationPoint * Linearize to a GaussianFactor, with method depending on the presence of a linearizationPoint
@ -135,7 +138,7 @@ public:
NonlinearFactor::shared_ptr rekey(const KeyVector& new_keys) const override; NonlinearFactor::shared_ptr rekey(const KeyVector& new_keys) const override;
/// Casting syntactic sugar /// Casting syntactic sugar
inline bool hasLinearizationPoint() const { return linearizationPoint_.is_initialized(); } inline bool hasLinearizationPoint() const { return linearizationPoint_.has_value(); }
/** /**
* Simple checks whether this is a Jacobian or Hessian factor * Simple checks whether this is a Jacobian or Hessian factor