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Merge pull request #785 from borglab/fix/linear-container-factor

release/4.3a0
Varun Agrawal 2021-06-07 20:53:11 -04:00 committed by GitHub
parent b1e91671fd f1bed302e4
commit 4270399083
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 33 additions and 4 deletions
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3
gtsam/nonlinear/LinearContainerFactor.cpp
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@ -175,9 +175,10 @@ NonlinearFactor::shared_ptr LinearContainerFactor::rekey(
Values newLinearizationPoint; Values newLinearizationPoint;
for (size_t i = 0; i < factor_->size(); ++i) { for (size_t i = 0; i < factor_->size(); ++i) {
auto mapping = rekey_mapping.find(factor_->keys()[i]); auto mapping = rekey_mapping.find(factor_->keys()[i]);
if (mapping != rekey_mapping.end()) if (mapping != rekey_mapping.end()) {
new_factor->factor_->keys()[i] = mapping->second; new_factor->factor_->keys()[i] = mapping->second;
newLinearizationPoint.insert(mapping->second, linearizationPoint_->at(mapping->first)); newLinearizationPoint.insert(mapping->second, linearizationPoint_->at(mapping->first));
}
} }
new_factor->linearizationPoint_ = newLinearizationPoint; new_factor->linearizationPoint_ = newLinearizationPoint;

34
gtsam/nonlinear/tests/testLinearContainerFactor.cpp
View File

@ -326,13 +326,13 @@ TEST(TestLinearContainerFactor, Rekey) {
// Make an example factor // Make an example factor
auto nonlinear_factor = auto nonlinear_factor =
boost::make_shared<gtsam::BetweenFactor<gtsam::Point3>>( boost::make_shared<gtsam::BetweenFactor<gtsam::Point3>>(
gtsam::Symbol('x', 0), gtsam::Symbol('l', 0), gtsam::Point3(), gtsam::Symbol('x', 0), gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0),
gtsam::noiseModel::Isotropic::Sigma(3, 1)); gtsam::noiseModel::Isotropic::Sigma(3, 1));
// Linearize and create an LCF // Linearize and create an LCF
gtsam::Values linearization_pt; gtsam::Values linearization_pt;
linearization_pt.insert(gtsam::Symbol('x', 0), gtsam::Point3()); linearization_pt.insert(gtsam::Symbol('x', 0), gtsam::Point3(0, 0, 0));
linearization_pt.insert(gtsam::Symbol('l', 0), gtsam::Point3()); linearization_pt.insert(gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0));
LinearContainerFactor lcf_factor( LinearContainerFactor lcf_factor(
nonlinear_factor->linearize(linearization_pt), linearization_pt); nonlinear_factor->linearize(linearization_pt), linearization_pt);
@ -363,6 +363,34 @@ TEST(TestLinearContainerFactor, Rekey) {
CHECK(assert_equal(linearization_pt_rekeyed.keys()[0], lcf_factor_rekey_ptr->keys()[1])); CHECK(assert_equal(linearization_pt_rekeyed.keys()[0], lcf_factor_rekey_ptr->keys()[1]));
} }
/* ************************************************************************* */
TEST(TestLinearContainerFactor, Rekey2) {
// Make an example factor
auto nonlinear_factor =
boost::make_shared<gtsam::BetweenFactor<gtsam::Point3>>(
gtsam::Symbol('x', 0), gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0),
gtsam::noiseModel::Isotropic::Sigma(3, 1));
// Linearize and create an LCF
gtsam::Values linearization_pt;
linearization_pt.insert(gtsam::Symbol('x', 0), gtsam::Point3(0, 0, 0));
linearization_pt.insert(gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0));
LinearContainerFactor lcf_factor(
nonlinear_factor->linearize(linearization_pt), linearization_pt);
// Define a key mapping with only a single key remapped.
// This should throw an exception if there is a bug.
std::map<gtsam::Key, gtsam::Key> key_map;
key_map[gtsam::Symbol('x', 0)] = gtsam::Symbol('x', 4);
// Cast back to LCF ptr
LinearContainerFactor::shared_ptr lcf_factor_rekey_ptr =
boost::static_pointer_cast<LinearContainerFactor>(
lcf_factor.rekey(key_map));
CHECK(lcf_factor_rekey_ptr);
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); } int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */ /* ************************************************************************* */