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breaks

release/4.3a0
kartik arcot 2023-01-04 15:58:51 -08:00
parent fcf339a31a
commit 4eb73db1c1
2 changed files with 17 additions and 8 deletions
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2
CMakeLists.txt
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@ -9,9 +9,9 @@ endif()
option(GTSAM_NO_BOOST_CPP17 "Require and use boost" ON) option(GTSAM_NO_BOOST_CPP17 "Require and use boost" ON)
add_definitions(-Wno-deprecated-declarations) add_definitions(-Wno-deprecated-declarations)
set(CMAKE_CXX_STANDARD 17)
if (GTSAM_NO_BOOST_CPP17) if (GTSAM_NO_BOOST_CPP17)
add_definitions(-DNO_BOOST_CPP17) add_definitions(-DNO_BOOST_CPP17)
set(CMAKE_CXX_STANDARD 17)
endif() endif()
# Set the version number for the library # Set the version number for the library

23
gtsam/nonlinear/NonlinearFactor.h
View File

@ -251,7 +251,12 @@ public:
* both the function evaluation and its derivative(s) in H. * both the function evaluation and its derivative(s) in H.
*/ */
virtual Vector unwhitenedError(const Values& x, OptionalMatrixVec H = OptionalNone) const = 0; virtual Vector unwhitenedError(const Values& x, OptionalMatrixVec H = OptionalNone) const = 0;
#ifdef NO_BOOST_C17
// support taking in the actual vector instead of the pointer as well
Vector unwhitenedError(const Values& x, std::vector<Matrix>& H) {
return unwhitenedError(x, &H);
}
#endif
/** /**
* Vector of errors, whitened * Vector of errors, whitened
* This is the raw error, i.e., i.e. \f$ (h(x)-z)/\sigma \f$ in case of a Gaussian * This is the raw error, i.e., i.e. \f$ (h(x)-z)/\sigma \f$ in case of a Gaussian
@ -611,12 +616,16 @@ protected:
* *
* e.g. `const Vector error = factor.evaluateError(pose, point, Hpose);` * e.g. `const Vector error = factor.evaluateError(pose, point, Hpose);`
*/ */
template <typename... OptionalJacArgs, template <typename... OptionalJacArgs, typename = IndexIsValid<sizeof...(OptionalJacArgs) + 1>>
typename = IndexIsValid<sizeof...(OptionalJacArgs) + 1>> inline Vector evaluateError(const ValueTypes&... x, OptionalJacArgs&&... H) const {
inline Vector evaluateError(const ValueTypes&... x, constexpr bool are_all_opt_mat = (... && std::is_same<OptionalMatrix, std::decay_t<OptionalJacArgs>>::value);
OptionalJacArgs&&... H) const { constexpr bool are_all_mat = (... && std::is_same<Matrix, std::decay_t<OptionalJacArgs>>::value);
return evaluateError(x..., std::forward<OptionalJacArgs>(H)..., static_assert((are_all_mat == false && are_all_opt_mat == false), "ERRORRR");
OptionalNone); if constexpr ((... && std::is_same<OptionalMatrix, std::decay_t<OptionalJacArgs>>::value)) {
return evaluateError(x..., std::forward<OptionalJacArgs>(H)..., OptionalNone);
} else if constexpr ((... && std::is_same<Matrix, std::decay_t<OptionalJacArgs>>::value)) {
return evaluateError(x..., std::forward<OptionalJacArgs>(H)..., OptionalNone);
}
} }
/// @} /// @}