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Change backwards-compatibility defs to utilize new style

release/4.3a0
Gerry Chen 2022-12-22 14:29:15 -05:00
parent d16d26394e
commit 4b93970b34
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GPG Key ID: E9845092D3A57286
2 changed files with 100 additions and 54 deletions
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150
gtsam/nonlinear/NonlinearFactor.h
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@ -561,8 +561,13 @@ class NoiseModelFactorN : public NoiseModelFactor {
template <class VALUE> template <class VALUE>
class GTSAM_DEPRECATED NoiseModelFactor1 : public NoiseModelFactorN<VALUE> { class GTSAM_DEPRECATED NoiseModelFactor1 : public NoiseModelFactorN<VALUE> {
public: public:
// aliases for value types pulled from keys, for backwards compatibility /** Aliases for value types pulled from keys, for backwards compatibility.
using X = VALUE; * Note: in your code you can probably just do:
* `using X = ValueType<1>;`
* but this class is uglier due to dependent types.
* See e.g. testNonlinearFactor.cpp:TestFactorN.
*/
using X = typename NoiseModelFactor1::template ValueType<1>;
protected: protected:
using Base = NoiseModelFactor; // grandparent, for backwards compatibility using Base = NoiseModelFactor; // grandparent, for backwards compatibility
@ -573,8 +578,10 @@ class GTSAM_DEPRECATED NoiseModelFactor1 : public NoiseModelFactorN<VALUE> {
using NoiseModelFactorN<VALUE>::NoiseModelFactorN; using NoiseModelFactorN<VALUE>::NoiseModelFactorN;
~NoiseModelFactor1() override {} ~NoiseModelFactor1() override {}
/** method to retrieve key */ /** Method to retrieve key.
inline Key key() const { return this->keys_[0]; } * Similar to `ValueType`, you can probably do `return key<1>();`
*/
inline Key key() const { return NoiseModelFactorN<VALUE>::template key<1>(); }
private: private:
/** Serialization function */ /** Serialization function */
@ -596,9 +603,14 @@ template <class VALUE1, class VALUE2>
class GTSAM_DEPRECATED NoiseModelFactor2 class GTSAM_DEPRECATED NoiseModelFactor2
: public NoiseModelFactorN<VALUE1, VALUE2> { : public NoiseModelFactorN<VALUE1, VALUE2> {
public: public:
// aliases for value types pulled from keys /** Aliases for value types pulled from keys.
using X1 = VALUE1; * Note: in your code you can probably just do:
using X2 = VALUE2; * `using X1 = ValueType<1>;`
* but this class is uglier due to dependent types.
* See e.g. testNonlinearFactor.cpp:TestFactorN.
*/
using X1 = typename NoiseModelFactor2::template ValueType<1>;
using X2 = typename NoiseModelFactor2::template ValueType<2>;
protected: protected:
using Base = NoiseModelFactor; using Base = NoiseModelFactor;
@ -609,9 +621,11 @@ class GTSAM_DEPRECATED NoiseModelFactor2
using NoiseModelFactorN<VALUE1, VALUE2>::NoiseModelFactorN; using NoiseModelFactorN<VALUE1, VALUE2>::NoiseModelFactorN;
~NoiseModelFactor2() override {} ~NoiseModelFactor2() override {}
/** methods to retrieve both keys */ /** Methods to retrieve keys.
inline Key key1() const { return this->keys_[0]; } * Similar to `ValueType`, you can probably do `return key<#>();`
inline Key key2() const { return this->keys_[1]; } */
inline Key key1() const { return this->template key<1>(); }
inline Key key2() const { return this->template key<2>(); }
private: private:
/** Serialization function */ /** Serialization function */
@ -633,10 +647,15 @@ template <class VALUE1, class VALUE2, class VALUE3>
class GTSAM_DEPRECATED NoiseModelFactor3 class GTSAM_DEPRECATED NoiseModelFactor3
: public NoiseModelFactorN<VALUE1, VALUE2, VALUE3> { : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3> {
public: public:
// aliases for value types pulled from keys /** Aliases for value types pulled from keys.
using X1 = VALUE1; * Note: in your code you can probably just do:
using X2 = VALUE2; * `using X1 = ValueType<1>;`
using X3 = VALUE3; * but this class is uglier due to dependent types.
* See e.g. testNonlinearFactor.cpp:TestFactorN.
*/
using X1 = typename NoiseModelFactor3::template ValueType<1>;
using X2 = typename NoiseModelFactor3::template ValueType<2>;
using X3 = typename NoiseModelFactor3::template ValueType<3>;
protected: protected:
using Base = NoiseModelFactor; using Base = NoiseModelFactor;
@ -647,10 +666,12 @@ class GTSAM_DEPRECATED NoiseModelFactor3
using NoiseModelFactorN<VALUE1, VALUE2, VALUE3>::NoiseModelFactorN; using NoiseModelFactorN<VALUE1, VALUE2, VALUE3>::NoiseModelFactorN;
~NoiseModelFactor3() override {} ~NoiseModelFactor3() override {}
/** methods to retrieve keys */ /** Methods to retrieve keys.
inline Key key1() const { return this->keys_[0]; } * Similar to `ValueType`, you can probably do `return key<#>();`
inline Key key2() const { return this->keys_[1]; } */
inline Key key3() const { return this->keys_[2]; } inline Key key1() const { return this->template key<1>(); }
inline Key key2() const { return this->template key<2>(); }
inline Key key3() const { return this->template key<3>(); }
private: private:
/** Serialization function */ /** Serialization function */
@ -672,11 +693,16 @@ template <class VALUE1, class VALUE2, class VALUE3, class VALUE4>
class GTSAM_DEPRECATED NoiseModelFactor4 class GTSAM_DEPRECATED NoiseModelFactor4
: public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4> { : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4> {
public: public:
// aliases for value types pulled from keys /** Aliases for value types pulled from keys.
using X1 = VALUE1; * Note: in your code you can probably just do:
using X2 = VALUE2; * `using X1 = ValueType<1>;`
using X3 = VALUE3; * but this class is uglier due to dependent types.
using X4 = VALUE4; * See e.g. testNonlinearFactor.cpp:TestFactorN.
*/
using X1 = typename NoiseModelFactor4::template ValueType<1>;
using X2 = typename NoiseModelFactor4::template ValueType<2>;
using X3 = typename NoiseModelFactor4::template ValueType<3>;
using X4 = typename NoiseModelFactor4::template ValueType<4>;
protected: protected:
using Base = NoiseModelFactor; using Base = NoiseModelFactor;
@ -687,11 +713,13 @@ class GTSAM_DEPRECATED NoiseModelFactor4
using NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4>::NoiseModelFactorN; using NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4>::NoiseModelFactorN;
~NoiseModelFactor4() override {} ~NoiseModelFactor4() override {}
/** methods to retrieve keys */ /** Methods to retrieve keys.
inline Key key1() const { return this->keys_[0]; } * Similar to `ValueType`, you can probably do `return key<#>();`
inline Key key2() const { return this->keys_[1]; } */
inline Key key3() const { return this->keys_[2]; } inline Key key1() const { return this->template key<1>(); }
inline Key key4() const { return this->keys_[3]; } inline Key key2() const { return this->template key<2>(); }
inline Key key3() const { return this->template key<3>(); }
inline Key key4() const { return this->template key<4>(); }
private: private:
/** Serialization function */ /** Serialization function */
@ -713,12 +741,17 @@ template <class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
class GTSAM_DEPRECATED NoiseModelFactor5 class GTSAM_DEPRECATED NoiseModelFactor5
: public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5> { : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5> {
public: public:
// aliases for value types pulled from keys /** Aliases for value types pulled from keys.
using X1 = VALUE1; * Note: in your code you can probably just do:
using X2 = VALUE2; * `using X1 = ValueType<1>;`
using X3 = VALUE3; * but this class is uglier due to dependent types.
using X4 = VALUE4; * See e.g. testNonlinearFactor.cpp:TestFactorN.
using X5 = VALUE5; */
using X1 = typename NoiseModelFactor5::template ValueType<1>;
using X2 = typename NoiseModelFactor5::template ValueType<2>;
using X3 = typename NoiseModelFactor5::template ValueType<3>;
using X4 = typename NoiseModelFactor5::template ValueType<4>;
using X5 = typename NoiseModelFactor5::template ValueType<5>;
protected: protected:
using Base = NoiseModelFactor; using Base = NoiseModelFactor;
@ -730,12 +763,14 @@ class GTSAM_DEPRECATED NoiseModelFactor5
VALUE5>::NoiseModelFactorN; VALUE5>::NoiseModelFactorN;
~NoiseModelFactor5() override {} ~NoiseModelFactor5() override {}
/** methods to retrieve keys */ /** Methods to retrieve keys.
inline Key key1() const { return this->keys_[0]; } * Similar to `ValueType`, you can probably do `return key<#>();`
inline Key key2() const { return this->keys_[1]; } */
inline Key key3() const { return this->keys_[2]; } inline Key key1() const { return this->template key<1>(); }
inline Key key4() const { return this->keys_[3]; } inline Key key2() const { return this->template key<2>(); }
inline Key key5() const { return this->keys_[4]; } inline Key key3() const { return this->template key<3>(); }
inline Key key4() const { return this->template key<4>(); }
inline Key key5() const { return this->template key<5>(); }
private: private:
/** Serialization function */ /** Serialization function */
@ -758,13 +793,18 @@ template <class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5,
class GTSAM_DEPRECATED NoiseModelFactor6 class GTSAM_DEPRECATED NoiseModelFactor6
: public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6> { : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6> {
public: public:
// aliases for value types pulled from keys /** Aliases for value types pulled from keys.
using X1 = VALUE1; * Note: in your code you can probably just do:
using X2 = VALUE2; * `using X1 = ValueType<1>;`
using X3 = VALUE3; * but this class is uglier due to dependent types.
using X4 = VALUE4; * See e.g. testNonlinearFactor.cpp:TestFactorN.
using X5 = VALUE5; */
using X6 = VALUE6; using X1 = typename NoiseModelFactor6::template ValueType<1>;
using X2 = typename NoiseModelFactor6::template ValueType<2>;
using X3 = typename NoiseModelFactor6::template ValueType<3>;
using X4 = typename NoiseModelFactor6::template ValueType<4>;
using X5 = typename NoiseModelFactor6::template ValueType<5>;
using X6 = typename NoiseModelFactor6::template ValueType<6>;
protected: protected:
using Base = NoiseModelFactor; using Base = NoiseModelFactor;
@ -777,13 +817,15 @@ class GTSAM_DEPRECATED NoiseModelFactor6
VALUE6>::NoiseModelFactorN; VALUE6>::NoiseModelFactorN;
~NoiseModelFactor6() override {} ~NoiseModelFactor6() override {}
/** methods to retrieve keys */ /** Methods to retrieve keys.
inline Key key1() const { return this->keys_[0]; } * Similar to `ValueType`, you can probably do `return key<#>();`
inline Key key2() const { return this->keys_[1]; } */
inline Key key3() const { return this->keys_[2]; } inline Key key1() const { return this->template key<1>(); }
inline Key key4() const { return this->keys_[3]; } inline Key key2() const { return this->template key<2>(); }
inline Key key5() const { return this->keys_[4]; } inline Key key3() const { return this->template key<3>(); }
inline Key key6() const { return this->keys_[5]; } inline Key key4() const { return this->template key<4>(); }
inline Key key5() const { return this->template key<5>(); }
inline Key key6() const { return this->template key<6>(); }
private: private:
/** Serialization function */ /** Serialization function */

4
tests/testNonlinearFactor.cpp
View File

@ -581,6 +581,8 @@ TEST(NonlinearFactor, NoiseModelFactor6) {
class TestFactorN : public NoiseModelFactorN<double, double, double, double> { class TestFactorN : public NoiseModelFactorN<double, double, double, double> {
public: public:
typedef NoiseModelFactorN<double, double, double, double> Base; typedef NoiseModelFactorN<double, double, double, double> Base;
using Type1 = ValueType<1>; // Test that we can use the ValueType<> template
TestFactorN() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0).finished()), X(1), X(2), X(3), X(4)) {} TestFactorN() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0).finished()), X(1), X(2), X(3), X(4)) {}
Vector Vector
@ -595,6 +597,8 @@ public:
if (H4) *H4 = (Matrix(1, 1) << 4.0).finished(); if (H4) *H4 = (Matrix(1, 1) << 4.0).finished();
return (Vector(1) << x1 + x2 + x3 + x4).finished(); return (Vector(1) << x1 + x2 + x3 + x4).finished();
} }
Key key1() const { return key<1>(); } // Test that we can use key<> template
}; };
/* ************************************ */ /* ************************************ */