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Fixed bug that VectorValues should preserve information when reserving more space, and new unit test.

release/4.3a0
Richard Roberts 2011-08-09 21:03:12 +00:00
parent 39c82ddd89
commit 1941483439
2 changed files with 33 additions and 1 deletions
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2
gtsam/linear/VectorValues.h
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@ -103,7 +103,7 @@ public:
Vector& vector() { return values_; }
/** Reserve space for a total number of variables and dimensionality */
void reserve(Index nVars, size_t totalDims) { values_.resize(totalDims); varStarts_.reserve(nVars+1); }
void reserve(Index nVars, size_t totalDims) { values_.conservativeResize(totalDims); varStarts_.reserve(nVars+1); }
/** access a range of indices (of no particular order) as a single vector */
template<class ITERATOR>

32
gtsam/linear/tests/testVectorValues.cpp
View File

@ -183,6 +183,38 @@ TEST(VectorValues, makeZero ) {
EXPECT(assert_equal(zero(14), values.vector()));
}
/* ************************************************************************* */
TEST(VectorValues, reserve ) {
Vector v1 = Vector_(3, 1.0,2.0,3.0);
Vector v2 = Vector_(2, 4.0,5.0);
Vector v3 = Vector_(4, 6.0,7.0,8.0,9.0);
Vector v4(2); v4 << 10, 11;
Vector v5(3); v5 << 12, 13, 14;
// Expected has all 5 variables
vector<size_t> dimsExp(5); dimsExp[0]=3; dimsExp[1]=2; dimsExp[2]=4; dimsExp[3]=2; dimsExp[4]=3;
VectorValues expected(dimsExp);
expected[0] = v1;
expected[1] = v2;
expected[2] = v3;
expected[3] = v4;
expected[4] = v5;
// Start with 3 variables
vector<size_t> dims(3); dims[0]=3; dims[1]=2; dims[2]=4;
VectorValues actual(dims);
actual[0] = v1;
actual[1] = v2;
actual[2] = v3;
// Now expand to all 5
actual.reserve(5, 14);
actual.push_back_preallocated(v4);
actual.push_back_preallocated(v5);
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST(VectorValues, range ) {
VectorValues v(7,2);