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Deprecated subInsert() in Vector.h

release/4.3a0
Alex Hagiopol 2016-03-11 20:13:51 -05:00
parent 6504e0e692
commit 3989178aba
4 changed files with 4 additions and 15 deletions
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5
gtsam/base/Vector.cpp
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@ -181,11 +181,6 @@ ConstSubVector sub(const Vector &v, size_t i1, size_t i2) {
return v.segment(i1,i2-i1); return v.segment(i1,i2-i1);
} }
/* ************************************************************************* */
void subInsert(Vector& fullVector, const Vector& subVector, size_t i) {
fullVector.segment(i, subVector.size()) = subVector;
}
/* ************************************************************************* */ /* ************************************************************************* */
Vector ediv_(const Vector &a, const Vector &b) { Vector ediv_(const Vector &a, const Vector &b) {
size_t n = a.size(); size_t n = a.size();

9
gtsam/base/Vector.h
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@ -204,14 +204,6 @@ GTSAM_EXPORT bool linear_dependent(const Vector& vec1, const Vector& vec2, doubl
*/ */
GTSAM_EXPORT ConstSubVector sub(const Vector &v, size_t i1, size_t i2); GTSAM_EXPORT ConstSubVector sub(const Vector &v, size_t i1, size_t i2);
/**
* Inserts a subvector into a vector IN PLACE
* @param fullVector is the vector to be changed
* @param subVector is the vector to insert
* @param i is the index where the subvector should be inserted
*/
GTSAM_EXPORT void subInsert(Vector& fullVector, const Vector& subVector, size_t i);
/** /**
* elementwise division, but 0/0 = 0, not inf * elementwise division, but 0/0 = 0, not inf
* @param a first vector * @param a first vector
@ -304,6 +296,7 @@ GTSAM_EXPORT inline Vector emul(const Vector &a, const Vector &b) {assert (b.siz
GTSAM_EXPORT inline double max(const Vector &a){return a.maxCoeff();} GTSAM_EXPORT inline double max(const Vector &a){return a.maxCoeff();}
GTSAM_EXPORT inline double norm_2(const Vector& v) {return v.norm();} GTSAM_EXPORT inline double norm_2(const Vector& v) {return v.norm();}
GTSAM_EXPORT inline Vector reciprocal(const Vector &a) {return a.array().inverse();} GTSAM_EXPORT inline Vector reciprocal(const Vector &a) {return a.array().inverse();}
GTSAM_EXPORT void subInsert(Vector& fullVector, const Vector& subVector, size_t i) {fullVector.segment(i, subVector.size()) = subVector;}
GTSAM_EXPORT inline double sum(const Vector &a){return a.sum();} GTSAM_EXPORT inline double sum(const Vector &a){return a.sum();}
#endif #endif

2
gtsam/base/tests/testVector.cpp
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@ -142,7 +142,7 @@ TEST(Vector, subInsert )
small = ones(3); small = ones(3);
size_t i = 2; size_t i = 2;
subInsert(big, small, i); big.segment(i,small.size()) = small;
Vector expected = (Vector(6) << 0.0, 0.0, 1.0, 1.0, 1.0, 0.0).finished(); Vector expected = (Vector(6) << 0.0, 0.0, 1.0, 1.0, 1.0, 0.0).finished();

3
gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp
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@ -90,7 +90,8 @@ Vector newtonEuler(const Vector& Vb, const Vector& Fb, const Matrix& Inertia) {
TEST( DiscreteEulerPoincareHelicopter, evaluateError) { TEST( DiscreteEulerPoincareHelicopter, evaluateError) {
Vector Fu = computeFu(gamma2, u2); Vector Fu = computeFu(gamma2, u2);
Vector fGravity_g1 = zero(6); Vector fGravity_g1 = zero(6);
subInsert(fGravity_g1, g1.rotation().unrotate(Point3(0.0, 0.0, -mass*9.81)), 3); // gravity force in g1 frame Vector subVector = g1.rotation().unrotate(Point3(0.0, 0.0, -mass*9.81));
fGravity_g1.segment(3,subVector.size()) = subVector;
Vector Fb = Fu+fGravity_g1; Vector Fb = Fu+fGravity_g1;
Vector dV = newtonEuler(V1_g1, Fb, Inertia); Vector dV = newtonEuler(V1_g1, Fb, Inertia);