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can't get "using NoiseModelFactorX = NoiseModelFactorN" to work

release/4.3a0
Gerry Chen 2021-12-03 07:43:42 -05:00
parent ddcca4cdae
commit 280acde2fc
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1 changed files with 50 additions and 246 deletions
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296
gtsam/nonlinear/NonlinearFactor.h
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@ -592,6 +592,7 @@ class NoiseModelFactorN : public NoiseModelFactor,
}
}; // \class NoiseModelFactorN
// // `using` does not work for some reason
// template <class VALUE>
// using NoiseModelFactor1 = NoiseModelFactorN<VALUE>;
// template <class VALUE1, class VALUE2>
@ -608,252 +609,55 @@ class NoiseModelFactorN : public NoiseModelFactor,
// using NoiseModelFactor6 =
// NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6>;
#define NoiseModelFactor1 NoiseModelFactorN
#define NoiseModelFactor2 NoiseModelFactorN
#define NoiseModelFactor3 NoiseModelFactorN
#define NoiseModelFactor4 NoiseModelFactorN
#define NoiseModelFactor5 NoiseModelFactorN
#define NoiseModelFactor6 NoiseModelFactorN
// this is visually ugly
template <class VALUE>
struct NoiseModelFactor1 : NoiseModelFactorN<VALUE> {
using NoiseModelFactorN<VALUE>::NoiseModelFactorN;
using This = NoiseModelFactor1<VALUE>;
};
template <class VALUE1, class VALUE2>
struct NoiseModelFactor2 : NoiseModelFactorN<VALUE1, VALUE2> {
using NoiseModelFactorN<VALUE1, VALUE2>::NoiseModelFactorN;
using This = NoiseModelFactor2<VALUE1, VALUE2>;
};
template <class VALUE1, class VALUE2, class VALUE3>
struct NoiseModelFactor3 : NoiseModelFactorN<VALUE1, VALUE2, VALUE3> {
using NoiseModelFactorN<VALUE1, VALUE2, VALUE3>::NoiseModelFactorN;
using This = NoiseModelFactor3<VALUE1, VALUE2, VALUE3>;
};
template <class VALUE1, class VALUE2, class VALUE3, class VALUE4>
struct NoiseModelFactor4 : NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4> {
using NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4>::NoiseModelFactorN;
using This = NoiseModelFactor4<VALUE1, VALUE2, VALUE3, VALUE4>;
};
template <class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
struct NoiseModelFactor5
: NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5> {
using NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4,
VALUE5>::NoiseModelFactorN;
using This = NoiseModelFactor5<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5>;
};
template <class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5,
class VALUE6>
struct NoiseModelFactor6
: NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6> {
using NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5,
VALUE6>::NoiseModelFactorN;
using This =
NoiseModelFactor6<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6>;
};
// /* ************************************************************************* */
// /** @deprecated: use NoiseModelFactorN, replacing .key1() with .key<1> and X1
// * with VALUE<1>.
// * A convenient base class for creating your own NoiseModelFactor
// * with 1 variable. To derive from this class, implement evaluateError().
// */
// template <class VALUE>
// class NoiseModelFactor1 : public NoiseModelFactorN<VALUE> {
// public:
// // aliases for value types pulled from keys
// using X = VALUE;
// protected:
// using Base = NoiseModelFactor; // grandparent, for backwards compatibility
// using This = NoiseModelFactor1<VALUE>;
// public:
// // inherit NoiseModelFactorN's constructors
// using NoiseModelFactorN<VALUE>::NoiseModelFactorN;
// ~NoiseModelFactor1() override {}
// /** method to retrieve key */
// inline Key key() const { return this->keys_[0]; }
// private:
// /** Serialization function */
// friend class boost::serialization::access;
// template <class ARCHIVE>
// void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
// ar& boost::serialization::make_nvp(
// "NoiseModelFactor", boost::serialization::base_object<Base>(*this));
// }
// }; // \class NoiseModelFactor1
// /* ************************************************************************* */
// /** @deprecated: use NoiseModelFactorN, replacing .key1() with .key<1> and X1
// * with VALUE<1>.
// * A convenient base class for creating your own NoiseModelFactor
// * with 2 variables. To derive from this class, implement evaluateError().
// */
// template <class VALUE1, class VALUE2>
// class NoiseModelFactor2 : public NoiseModelFactorN<VALUE1, VALUE2> {
// public:
// // aliases for value types pulled from keys
// using X1 = VALUE1;
// using X2 = VALUE2;
// protected:
// using Base = NoiseModelFactor;
// using This = NoiseModelFactor2<VALUE1, VALUE2>;
// public:
// // inherit NoiseModelFactorN's constructors
// using NoiseModelFactorN<VALUE1, VALUE2>::NoiseModelFactorN;
// ~NoiseModelFactor2() override {}
// /** methods to retrieve both keys */
// inline Key key1() const { return this->keys_[0]; }
// inline Key key2() const { return this->keys_[1]; }
// private:
// /** Serialization function */
// friend class boost::serialization::access;
// template <class ARCHIVE>
// void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
// ar& boost::serialization::make_nvp(
// "NoiseModelFactor", boost::serialization::base_object<Base>(*this));
// }
// }; // \class NoiseModelFactor2
// /* ************************************************************************* */
// /** @deprecated: use NoiseModelFactorN, replacing .key1() with .key<1> and X1
// * with VALUE<1>.
// * A convenient base class for creating your own NoiseModelFactor
// * with 3 variables. To derive from this class, implement evaluateError().
// */
// template <class VALUE1, class VALUE2, class VALUE3>
// class NoiseModelFactor3 : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3> {
// public:
// // aliases for value types pulled from keys
// using X1 = VALUE1;
// using X2 = VALUE2;
// using X3 = VALUE3;
// protected:
// using Base = NoiseModelFactor;
// using This = NoiseModelFactor3<VALUE1, VALUE2, VALUE3>;
// public:
// // inherit NoiseModelFactorN's constructors
// using NoiseModelFactorN<VALUE1, VALUE2, VALUE3>::NoiseModelFactorN;
// ~NoiseModelFactor3() override {}
// /** methods to retrieve keys */
// inline Key key1() const { return this->keys_[0]; }
// inline Key key2() const { return this->keys_[1]; }
// inline Key key3() const { return this->keys_[2]; }
// private:
// /** Serialization function */
// friend class boost::serialization::access;
// template <class ARCHIVE>
// void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
// ar& boost::serialization::make_nvp(
// "NoiseModelFactor", boost::serialization::base_object<Base>(*this));
// }
// }; // \class NoiseModelFactor3
// /* ************************************************************************* */
// /** @deprecated: use NoiseModelFactorN, replacing .key1() with .key<1> and X1
// * with VALUE<1>.
// * A convenient base class for creating your own NoiseModelFactor
// * with 4 variables. To derive from this class, implement evaluateError().
// */
// template <class VALUE1, class VALUE2, class VALUE3, class VALUE4>
// class NoiseModelFactor4
// : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4> {
// public:
// // aliases for value types pulled from keys
// using X1 = VALUE1;
// using X2 = VALUE2;
// using X3 = VALUE3;
// using X4 = VALUE4;
// protected:
// using Base = NoiseModelFactor;
// using This = NoiseModelFactor4<VALUE1, VALUE2, VALUE3, VALUE4>;
// public:
// // inherit NoiseModelFactorN's constructors
// using NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4>::NoiseModelFactorN;
// ~NoiseModelFactor4() override {}
// /** methods to retrieve keys */
// inline Key key1() const { return this->keys_[0]; }
// inline Key key2() const { return this->keys_[1]; }
// inline Key key3() const { return this->keys_[2]; }
// inline Key key4() const { return this->keys_[3]; }
// private:
// /** Serialization function */
// friend class boost::serialization::access;
// template <class ARCHIVE>
// void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
// ar& boost::serialization::make_nvp(
// "NoiseModelFactor", boost::serialization::base_object<Base>(*this));
// }
// }; // \class NoiseModelFactor4
// /* ************************************************************************* */
// /** @deprecated: use NoiseModelFactorN, replacing .key1() with .key<1> and X1
// * with VALUE<1>.
// * A convenient base class for creating your own NoiseModelFactor
// * with 5 variables. To derive from this class, implement evaluateError().
// */
// template <class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
// class NoiseModelFactor5
// : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5> {
// public:
// // aliases for value types pulled from keys
// using X1 = VALUE1;
// using X2 = VALUE2;
// using X3 = VALUE3;
// using X4 = VALUE4;
// using X5 = VALUE5;
// protected:
// using Base = NoiseModelFactor;
// using This = NoiseModelFactor5<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5>;
// public:
// // inherit NoiseModelFactorN's constructors
// using NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4,
// VALUE5>::NoiseModelFactorN;
// ~NoiseModelFactor5() override {}
// /** methods to retrieve keys */
// inline Key key1() const { return this->keys_[0]; }
// inline Key key2() const { return this->keys_[1]; }
// inline Key key3() const { return this->keys_[2]; }
// inline Key key4() const { return this->keys_[3]; }
// inline Key key5() const { return this->keys_[4]; }
// private:
// /** Serialization function */
// friend class boost::serialization::access;
// template <class ARCHIVE>
// void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
// ar& boost::serialization::make_nvp(
// "NoiseModelFactor", boost::serialization::base_object<Base>(*this));
// }
// }; // \class NoiseModelFactor5
// /* ************************************************************************* */
// /** @deprecated: use NoiseModelFactorN, replacing .key1() with .key<1> and X1
// * with VALUE<1>.
// * A convenient base class for creating your own NoiseModelFactor
// * with 6 variables. To derive from this class, implement evaluateError().
// */
// template <class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5,
// class VALUE6>
// class NoiseModelFactor6
// : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6> {
// public:
// // aliases for value types pulled from keys
// using X1 = VALUE1;
// using X2 = VALUE2;
// using X3 = VALUE3;
// using X4 = VALUE4;
// using X5 = VALUE5;
// using X6 = VALUE6;
// protected:
// using Base = NoiseModelFactor;
// using This =
// NoiseModelFactor6<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6>;
// public:
// // inherit NoiseModelFactorN's constructors
// using NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5,
// VALUE6>::NoiseModelFactorN;
// ~NoiseModelFactor6() override {}
// /** methods to retrieve keys */
// inline Key key1() const { return this->keys_[0]; }
// inline Key key2() const { return this->keys_[1]; }
// inline Key key3() const { return this->keys_[2]; }
// inline Key key4() const { return this->keys_[3]; }
// inline Key key5() const { return this->keys_[4]; }
// inline Key key6() const { return this->keys_[5]; }
// private:
// /** Serialization function */
// friend class boost::serialization::access;
// template <class ARCHIVE>
// void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
// ar& boost::serialization::make_nvp(
// "NoiseModelFactor", boost::serialization::base_object<Base>(*this));
// }
// }; // \class NoiseModelFactor6
/* ************************************************************************* */
/** @deprecated: use NoiseModelFactorN
* Convenient base classes for creating your own NoiseModelFactors with 1-6
* variables. To derive from these classes, implement evaluateError().
*/
// // This has the side-effect that you could e.g. NoiseModelFactor6<double>
// #define NoiseModelFactor1 NoiseModelFactorN
// #define NoiseModelFactor2 NoiseModelFactorN
// #define NoiseModelFactor3 NoiseModelFactorN
// #define NoiseModelFactor4 NoiseModelFactorN
// #define NoiseModelFactor5 NoiseModelFactorN
// #define NoiseModelFactor6 NoiseModelFactorN
} // \namespace gtsam