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release/4.3a0
Gerry Chen 2021-12-09 02:26:57 -05:00
parent 84e873ebb0
commit 40e585bb11
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1 changed files with 31 additions and 15 deletions
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46
gtsam/nonlinear/NonlinearFactor.h
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@ -29,6 +29,9 @@
#include <boost/serialization/base_object.hpp>
#include <boost/assign/list_of.hpp>
// boost::index_sequence was introduced in 1.66, so we'll manually define an
// implementation if user has 1.65. boost::index_sequence is used to get array
// indices that align with a parameter pack.
#if BOOST_VERSION >= 106600
#include <boost/mp11/integer_sequence.hpp>
#else
@ -467,24 +470,11 @@ class NoiseModelFactorN
~NoiseModelFactorN() override {}
/** Methods to retrieve keys */
#define SUB(Old, New) template <int Old = New> // to delay template deduction
#define KEY_IF_TRUE(Enable) typename std::enable_if<(Enable), Key>::type
// templated version of `key<I>()`
/** Returns a key. Usage: `key<I>()` returns the I'th key. */
template <int I>
inline KEY_IF_TRUE(I < N) key() const {
inline typename std::enable_if<(I < N), Key>::type key() const {
return keys_[I];
}
// backwards-compatibility functions
SUB(T, N) inline KEY_IF_TRUE(T == 1) key() const { return keys_[0]; }
SUB(T, N) inline KEY_IF_TRUE(T >= 1) key1() const { return keys_[0]; }
SUB(T, N) inline KEY_IF_TRUE(T >= 2) key2() const { return keys_[1]; }
SUB(T, N) inline KEY_IF_TRUE(T >= 3) key3() const { return keys_[2]; }
SUB(T, N) inline KEY_IF_TRUE(T >= 4) key4() const { return keys_[3]; }
SUB(T, N) inline KEY_IF_TRUE(T >= 5) key5() const { return keys_[4]; }
SUB(T, N) inline KEY_IF_TRUE(T >= 6) key6() const { return keys_[5]; }
#undef SUB
#undef KEY_IF_TRUE
/// @name NoiseModelFactor methods
/// @{
@ -583,6 +573,32 @@ class NoiseModelFactorN
ar& boost::serialization::make_nvp(
"NoiseModelFactor", boost::serialization::base_object<Base>(*this));
}
public:
/** @defgroup deprecated key access
* Functions to retrieve keys (deprecated). Use the templated version:
* `key<I>()` instead.
* @{
*/
#define SUB(Old, New) template <int Old = New> // to delay template deduction
#define KEY_IF_TRUE(Enable) typename std::enable_if<(Enable), Key>::type
/** @deprecated */
SUB(T, N) inline KEY_IF_TRUE(T == 1) key() const { return keys_[0]; }
/** @deprecated */
SUB(T, N) inline KEY_IF_TRUE(T >= 1) key1() const { return keys_[0]; }
/** @deprecated */
SUB(T, N) inline KEY_IF_TRUE(T >= 2) key2() const { return keys_[1]; }
/** @deprecated */
SUB(T, N) inline KEY_IF_TRUE(T >= 3) key3() const { return keys_[2]; }
/** @deprecated */
SUB(T, N) inline KEY_IF_TRUE(T >= 4) key4() const { return keys_[3]; }
/** @deprecated */
SUB(T, N) inline KEY_IF_TRUE(T >= 5) key5() const { return keys_[4]; }
/** @deprecated */
SUB(T, N) inline KEY_IF_TRUE(T >= 6) key6() const { return keys_[5]; }
#undef SUB
#undef KEY_IF_TRUE
/** @} */
}; // \class NoiseModelFactorN
/* ************************************************************************* */