Resolved several MSVC compiling errors
* The check.base unit tests all pass now. * The gstam_matlab_wrapper class compiles with now errors now. * Note that I had to remove all LieMatrix, LieVector, and LieScalar stuff to get this to work...release/4.3a0
Clark Taylor
parent
1ca0e3395c
commit
33bda1ef71
93
gtsam.h
93
gtsam.h
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@ -286,99 +286,6 @@ virtual class GenericValue : gtsam::Value {
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void serializable() const;
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};
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#include <gtsam/base/deprecated/LieScalar.h>
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class LieScalar {
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// Standard constructors
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LieScalar();
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LieScalar(double d);
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// Standard interface
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double value() const;
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// Testable
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void print(string s) const;
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bool equals(const gtsam::LieScalar& expected, double tol) const;
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// Group
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static gtsam::LieScalar identity();
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gtsam::LieScalar inverse() const;
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gtsam::LieScalar compose(const gtsam::LieScalar& p) const;
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gtsam::LieScalar between(const gtsam::LieScalar& l2) const;
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// Manifold
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size_t dim() const;
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gtsam::LieScalar retract(Vector v) const;
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Vector localCoordinates(const gtsam::LieScalar& t2) const;
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// Lie group
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static gtsam::LieScalar Expmap(Vector v);
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static Vector Logmap(const gtsam::LieScalar& p);
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};
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#include <gtsam/base/deprecated/LieVector.h>
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class LieVector {
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// Standard constructors
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LieVector();
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LieVector(Vector v);
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// Standard interface
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Vector vector() const;
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// Testable
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void print(string s) const;
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bool equals(const gtsam::LieVector& expected, double tol) const;
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// Group
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static gtsam::LieVector identity();
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gtsam::LieVector inverse() const;
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gtsam::LieVector compose(const gtsam::LieVector& p) const;
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gtsam::LieVector between(const gtsam::LieVector& l2) const;
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// Manifold
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size_t dim() const;
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gtsam::LieVector retract(Vector v) const;
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Vector localCoordinates(const gtsam::LieVector& t2) const;
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// Lie group
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static gtsam::LieVector Expmap(Vector v);
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static Vector Logmap(const gtsam::LieVector& p);
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/base/deprecated/LieMatrix.h>
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class LieMatrix {
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// Standard constructors
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LieMatrix();
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LieMatrix(Matrix v);
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// Standard interface
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Matrix matrix() const;
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// Testable
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void print(string s) const;
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bool equals(const gtsam::LieMatrix& expected, double tol) const;
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// Group
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static gtsam::LieMatrix identity();
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gtsam::LieMatrix inverse() const;
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gtsam::LieMatrix compose(const gtsam::LieMatrix& p) const;
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gtsam::LieMatrix between(const gtsam::LieMatrix& l2) const;
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// Manifold
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size_t dim() const;
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gtsam::LieMatrix retract(Vector v) const;
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Vector localCoordinates(const gtsam::LieMatrix & t2) const;
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// Lie group
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static gtsam::LieMatrix Expmap(Vector v);
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static Vector Logmap(const gtsam::LieMatrix& p);
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// enabling serialization functionality
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void serialize() const;
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};
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//*************************************************************************
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// geometry
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//*************************************************************************
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@ -39,6 +39,12 @@ set (excluded_sources #"")
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set (excluded_headers #"")
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"${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h"
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"${CMAKE_CURRENT_SOURCE_DIR}/base/LieMatrix.h"
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"${CMAKE_CURRENT_SOURCE_DIR}/base/LieVector.h"
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"${CMAKE_CURRENT_SOURCE_DIR}/base/LieScalar.h"
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"${CMAKE_CURRENT_SOURCE_DIR}/base/deprecated/LieMatrix.h"
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"${CMAKE_CURRENT_SOURCE_DIR}/base/deprecated/LieVector.h"
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"${CMAKE_CURRENT_SOURCE_DIR}/base/deprecated/LieScalar.h"
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)
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if(GTSAM_USE_QUATERNIONS)
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@ -56,6 +62,7 @@ foreach(subdir ${gtsam_subdirs})
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# Build convenience libraries
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file(GLOB_RECURSE subdir_srcs "${subdir}/*.cpp" "${subdir}/*.h") # Include header files so they show up in Visual Studio
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list(REMOVE_ITEM subdir_srcs ${excluded_sources})
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list(REMOVE_ITEM subdir_srcs ${excluded_headers})
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file(GLOB subdir_test_files "${subdir}/tests/*")
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list(REMOVE_ITEM subdir_srcs ${subdir_test_files}) # Remove test files from sources compiled into library
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gtsam_assign_source_folders("${subdir_srcs}") # Create MSVC structure
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@ -299,7 +299,7 @@ GTSAM_EXPORT std::pair<Matrix,Matrix> qr(const Matrix& A);
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* @param A is the input matrix, and is the output
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* @param clear_below_diagonal enables zeroing out below diagonal
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*/
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void inplace_QR(Matrix& A);
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GTSAM_EXPORT void inplace_QR(Matrix& A);
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/**
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* Imperative algorithm for in-place full elimination with
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@ -1,70 +0,0 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testLieMatrix.cpp
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* @author Richard Roberts
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/deprecated/LieMatrix.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/Manifold.h>
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using namespace gtsam;
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GTSAM_CONCEPT_TESTABLE_INST(LieMatrix)
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GTSAM_CONCEPT_LIE_INST(LieMatrix)
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/* ************************************************************************* */
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TEST( LieMatrix, construction ) {
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Matrix m = (Matrix(2,2) << 1.0,2.0, 3.0,4.0).finished();
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LieMatrix lie1(m), lie2(m);
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EXPECT(traits<LieMatrix>::GetDimension(m) == 4);
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EXPECT(assert_equal(m, lie1.matrix()));
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EXPECT(assert_equal(lie1, lie2));
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}
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/* ************************************************************************* */
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TEST( LieMatrix, other_constructors ) {
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Matrix init = (Matrix(2,2) << 10.0,20.0, 30.0,40.0).finished();
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LieMatrix exp(init);
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double data[] = {10,30,20,40};
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LieMatrix b(2,2,data);
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EXPECT(assert_equal(exp, b));
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}
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/* ************************************************************************* */
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TEST(LieMatrix, retract) {
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LieMatrix init((Matrix(2,2) << 1.0,2.0,3.0,4.0).finished());
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Vector update = (Vector(4) << 3.0, 4.0, 6.0, 7.0).finished();
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LieMatrix expected((Matrix(2,2) << 4.0, 6.0, 9.0, 11.0).finished());
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LieMatrix actual = traits<LieMatrix>::Retract(init,update);
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EXPECT(assert_equal(expected, actual));
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Vector expectedUpdate = update;
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Vector actualUpdate = traits<LieMatrix>::Local(init,actual);
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EXPECT(assert_equal(expectedUpdate, actualUpdate));
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Vector expectedLogmap = (Vector(4) << 1, 2, 3, 4).finished();
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Vector actualLogmap = traits<LieMatrix>::Logmap(LieMatrix((Matrix(2,2) << 1.0, 2.0, 3.0, 4.0).finished()));
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EXPECT(assert_equal(expectedLogmap, actualLogmap));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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@ -1,64 +0,0 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testLieScalar.cpp
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* @author Kai Ni
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/deprecated/LieScalar.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/Manifold.h>
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using namespace gtsam;
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GTSAM_CONCEPT_TESTABLE_INST(LieScalar)
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GTSAM_CONCEPT_LIE_INST(LieScalar)
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const double tol=1e-9;
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//******************************************************************************
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TEST(LieScalar , Concept) {
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BOOST_CONCEPT_ASSERT((IsGroup<LieScalar>));
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BOOST_CONCEPT_ASSERT((IsManifold<LieScalar>));
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BOOST_CONCEPT_ASSERT((IsLieGroup<LieScalar>));
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}
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//******************************************************************************
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TEST(LieScalar , Invariants) {
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LieScalar lie1(2), lie2(3);
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CHECK(check_group_invariants(lie1, lie2));
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CHECK(check_manifold_invariants(lie1, lie2));
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}
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/* ************************************************************************* */
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TEST( testLieScalar, construction ) {
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double d = 2.;
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LieScalar lie1(d), lie2(d);
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EXPECT_DOUBLES_EQUAL(2., lie1.value(),tol);
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EXPECT_DOUBLES_EQUAL(2., lie2.value(),tol);
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EXPECT(traits<LieScalar>::dimension == 1);
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EXPECT(assert_equal(lie1, lie2));
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}
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/* ************************************************************************* */
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TEST( testLieScalar, localCoordinates ) {
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LieScalar lie1(1.), lie2(3.);
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Vector1 actual = traits<LieScalar>::Local(lie1, lie2);
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EXPECT( assert_equal((Vector)(Vector(1) << 2).finished(), actual));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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@ -1,66 +0,0 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testLieVector.cpp
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* @author Alex Cunningham
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/deprecated/LieVector.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/Manifold.h>
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using namespace gtsam;
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GTSAM_CONCEPT_TESTABLE_INST(LieVector)
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GTSAM_CONCEPT_LIE_INST(LieVector)
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//******************************************************************************
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TEST(LieVector , Concept) {
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BOOST_CONCEPT_ASSERT((IsGroup<LieVector>));
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BOOST_CONCEPT_ASSERT((IsManifold<LieVector>));
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BOOST_CONCEPT_ASSERT((IsLieGroup<LieVector>));
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}
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//******************************************************************************
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TEST(LieVector , Invariants) {
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Vector v = Vector3(1.0, 2.0, 3.0);
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LieVector lie1(v), lie2(v);
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check_manifold_invariants(lie1, lie2);
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}
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//******************************************************************************
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TEST( testLieVector, construction ) {
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Vector v = Vector3(1.0, 2.0, 3.0);
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LieVector lie1(v), lie2(v);
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EXPECT(lie1.dim() == 3);
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EXPECT(assert_equal(v, lie1.vector()));
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EXPECT(assert_equal(lie1, lie2));
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}
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//******************************************************************************
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TEST( testLieVector, other_constructors ) {
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Vector init = Vector2(10.0, 20.0);
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LieVector exp(init);
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double data[] = { 10, 20 };
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LieVector b(2, data);
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EXPECT(assert_equal(exp, b));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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@ -15,20 +15,10 @@
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/deprecated/LieScalar.h>
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#include <gtsam/base/TestableAssertions.h>
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( testTestableAssertions, optional ) {
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typedef boost::optional<LieScalar> OptionalScalar;
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LieScalar x(1.0);
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OptionalScalar ox(x), dummy = boost::none;
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EXPECT(assert_equal(ox, ox));
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EXPECT(assert_equal(x, ox));
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EXPECT(assert_equal(dummy, dummy));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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