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More convenient NonlinearFactor and NoiseModelFactor constructors

release/4.3a0
Richard Roberts 2012-03-06 05:10:08 +00:00
parent 146f96629f
commit 4e3844bb25
2 changed files with 37 additions and 44 deletions
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8
gtsam/inference/Factor.h
View File

@ -117,6 +117,14 @@ public:
Factor(KeyType key1, KeyType key2, KeyType key3, KeyType key4) : keys_(4) {
keys_[0] = key1; keys_[1] = key2; keys_[2] = key3; keys_[3] = key4; assertInvariants(); }
/** Construct 5-way factor */
Factor(KeyType key1, KeyType key2, KeyType key3, KeyType key4, KeyType key5) : keys_(5) {
keys_[0] = key1; keys_[1] = key2; keys_[2] = key3; keys_[3] = key4; keys_[4] = key5; assertInvariants(); }
/** Construct 6-way factor */
Factor(KeyType key1, KeyType key2, KeyType key3, KeyType key4, KeyType key5, KeyType key6) : keys_(6) {
keys_[0] = key1; keys_[1] = key2; keys_[2] = key3; keys_[3] = key4; keys_[4] = key5; keys_[5] = key6; assertInvariants(); }
/// @}
/// @name Advanced Constructors
/// @{

73
gtsam/nonlinear/NonlinearFactor.h
View File

@ -66,13 +66,24 @@ public:
}
/**
* Constructor
* @param keys The variables involved in this factor
* Constructor from a vector of the keys involved in this factor
*/
NonlinearFactor(const std::vector<size_t>& keys) :
Base(keys) {}
/**
* Constructor from iterators over the keys involved in this factor
*/
template<class ITERATOR>
NonlinearFactor(ITERATOR beginKeys, ITERATOR endKeys) {
this->keys_.insert(this->keys_.end(), beginKeys, endKeys);
}
NonlinearFactor(ITERATOR beginKeys, ITERATOR endKeys) :
Base(beginKeys, endKeys) {}
NonlinearFactor(Key key) : Base(key) {} ///< Convenience constructor for 1 key
NonlinearFactor(Key key1, Key key2) : Base(key1, key2) {} ///< Convenience constructor for 2 keys
NonlinearFactor(Key key1, Key key2, Key key3) : Base(key1, key2, key3) {} ///< Convenience constructor for 3 keys
NonlinearFactor(Key key1, Key key2, Key key3, Key key4) : Base(key1, key2, key3, key4) {} ///< Convenience constructor for 4 keys
NonlinearFactor(Key key1, Key key2, Key key3, Key key4, Key key5) : Base(key1, key2, key3, key4, key5) {} ///< Convenience constructor for 5 keys
NonlinearFactor(Key key1, Key key2, Key key3, Key key4, Key key5, Key key6) : Base(key1, key2, key3, key4, key5, key6) {} ///< Convenience constructor for 6 keys
/// @}
/// @name Testable
@ -178,6 +189,13 @@ public:
: Base(beginKeys, endKeys), noiseModel_(noiseModel) {
}
NoiseModelFactor(const SharedNoiseModel& noiseModel, Key key) : Base(key), noiseModel_(noiseModel) {} ///< Convenience constructor for 1 key
NoiseModelFactor(const SharedNoiseModel& noiseModel, Key key1, Key key2) : Base(key1, key2), noiseModel_(noiseModel) {} ///< Convenience constructor for 2 keys
NoiseModelFactor(const SharedNoiseModel& noiseModel, Key key1, Key key2, Key key3) : Base(key1, key2, key3), noiseModel_(noiseModel) {} ///< Convenience constructor for 3 keys
NoiseModelFactor(const SharedNoiseModel& noiseModel, Key key1, Key key2, Key key3, Key key4) : Base(key1, key2, key3, key4), noiseModel_(noiseModel) {} ///< Convenience constructor for 4 keys
NoiseModelFactor(const SharedNoiseModel& noiseModel, Key key1, Key key2, Key key3, Key key4, Key key5) : Base(key1, key2, key3, key4, key5), noiseModel_(noiseModel) {} ///< Convenience constructor for 5 keys
NoiseModelFactor(const SharedNoiseModel& noiseModel, Key key1, Key key2, Key key3, Key key4, Key key5, Key key6) : Base(key1, key2, key3, key4, key5, key6), noiseModel_(noiseModel) {} ///< Convenience constructor for 6 keys
protected:
/**
@ -319,10 +337,7 @@ public:
* @param key by which to look up X value in Values
*/
NoiseModelFactor1(const SharedNoiseModel& noiseModel, Key key1) :
Base(noiseModel) {
keys_.resize(1);
keys_[0] = key1;
}
Base(noiseModel, key1) {}
/** Calls the 1-key specific version of evaluateError, which is pure virtual
* so must be implemented in the derived class. */
@ -389,11 +404,7 @@ public:
* @param j2 key of the second variable
*/
NoiseModelFactor2(const SharedNoiseModel& noiseModel, Key j1, Key j2) :
Base(noiseModel) {
keys_.resize(2);
keys_[0] = j1;
keys_[1] = j2;
}
Base(noiseModel, j1, j2) {}
virtual ~NoiseModelFactor2() {}
@ -469,12 +480,7 @@ public:
* @param j3 key of the third variable
*/
NoiseModelFactor3(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3) :
Base(noiseModel) {
keys_.resize(3);
keys_[0] = j1;
keys_[1] = j2;
keys_[2] = j3;
}
Base(noiseModel, j1, j2, j3) {}
virtual ~NoiseModelFactor3() {}
@ -552,13 +558,7 @@ public:
* @param j4 key of the fourth variable
*/
NoiseModelFactor4(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4) :
Base(noiseModel) {
keys_.resize(4);
keys_[0] = j1;
keys_[1] = j2;
keys_[2] = j3;
keys_[3] = j4;
}
Base(noiseModel, j1, j2, j3, j4) {}
virtual ~NoiseModelFactor4() {}
@ -640,14 +640,7 @@ public:
* @param j5 key of the fifth variable
*/
NoiseModelFactor5(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5) :
Base(noiseModel) {
keys_.resize(5);
keys_[0] = j1;
keys_[1] = j2;
keys_[2] = j3;
keys_[3] = j4;
keys_[4] = j5;
}
Base(noiseModel, j1, j2, j3, j4, j5) {}
virtual ~NoiseModelFactor5() {}
@ -733,15 +726,7 @@ public:
* @param j6 key of the fifth variable
*/
NoiseModelFactor6(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) :
Base(noiseModel) {
keys_.resize(6);
keys_[0] = j1;
keys_[1] = j2;
keys_[2] = j3;
keys_[3] = j4;
keys_[4] = j5;
keys_[5] = j6;
}
Base(noiseModel, j1, j2, j3, j4, j5, j6) {}
virtual ~NoiseModelFactor6() {}