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Merging lieconfig branch - LieConfig works but currently requires Lie objects to have a global print function.

release/4.3a0
Richard Roberts 2010-01-10 06:35:16 +00:00
parent 6a7987fa91
commit 4fa53a1f79
9 changed files with 792 additions and 424 deletions
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846
.cproject
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@ -5,15 +5,15 @@
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<cconfiguration id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544">
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<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.MakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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@ -297,415 +297,425 @@
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<target name="testNonlinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testNonlinearFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPose3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testPose3.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testVectorConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testVectorConfig.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPoint2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testPoint2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testNonlinearFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testNonlinearFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="timeGaussianFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>timeGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="timeGaussianFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>timeGaussianFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSymbolicBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testVector.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testMatrix.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testMatrix.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testVSLAMGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testVSLAMGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testNonlinearEquality.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testNonlinearEquality.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSQP.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSQP.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testNonlinearConstraint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testNonlinearConstraint.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSQPOptimizer.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSQPOptimizer.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testVSLAMConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testVSLAMConfig.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testControlConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testControlConfig.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testControlPoint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testControlPoint.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testControlGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testControlGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testOrdering.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testOrdering.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPose2Constraint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testPose2Constraint.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRot2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testRot2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianBayesTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPose3Factor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testPose3Factor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testUrbanGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testUrbanGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testUrbanConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testUrbanConfig.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testUrbanMeasurement.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testUrbanMeasurement.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testUrbanOdometry.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testUrbanOdometry.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testIterative.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testIterative.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianISAM2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testGaussianISAM2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSubgraphPreconditioner.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSubgraphPreconditioner.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testBayesNetPreconditioner.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBayesNetPreconditioner.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPose2Factor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>testPose2Factor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="timeRot3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>timeRot3.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testLieConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testLieConfig.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
</buildTargets>
</storageModule>
</cconfiguration>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<project id="gtsam.null.1344331286" name="gtsam"/>

23
cpp/Lie.h
View File

@ -8,10 +8,8 @@
#ifndef LIE_H_
#define LIE_H_
#include <string>
#include "Vector.h"
#include "VectorConfig.h"
#include "Matrix.h"
namespace gtsam {
@ -61,6 +59,25 @@ namespace gtsam {
Vector logmap(const T& lp) const;
};
/** Call print on the object */
template<class T>
inline void print_(const T& object, const char *s = "") {
object.print(s);
}
/** Call equal on the object */
template<class T>
inline bool equal(const T& obj1, const T& obj2, double tol) {
return obj1.equals(obj2, tol);
}
/** Call equal on the object without tolerance (use default tolerance) */
template<class T>
inline bool equal(const T& obj1, const T& obj2) {
return obj1.equal(obj2);
}
}

68
cpp/LieConfig-inl.h Normal file
View File

@ -0,0 +1,68 @@
/*
* LieConfig.cpp
*
* Created on: Jan 8, 2010
* Author: richard
*/
#include <boost/foreach.hpp>
#include <boost/tuple/tuple.hpp>
#include "LieConfig.h"
using namespace std;
#define FOREACH_PAIR( KEY, VAL, COL) BOOST_FOREACH (boost::tie(KEY,VAL),COL)
namespace gtsam {
template<class T>
void LieConfig<T>::print(const std::string &s) const {
std::cout << "LieConfig " << s << ", size " << values_.size() << "\n";
std::pair<std::string, T> v;
BOOST_FOREACH(v, values_)
::gtsam::print(v.second, v.first + ": ");
}
template<class T>
bool LieConfig<T>::equals(const LieConfig<T>& expected, double tol) const {
if (values_.size() != expected.values_.size()) return false;
std::pair<std::string, T> v;
BOOST_FOREACH(v, values_) {
boost::optional<const T&> expval = expected.gettry(v.first);
if(!expval || !::gtsam::equal(v.second, *expval, tol))
return false;
}
return true;
}
template<class T>
LieConfig<T> expmap(const LieConfig<T>& c, const VectorConfig& delta) {
LieConfig<T> newConfig;
std::string j; T pj;
FOREACH_PAIR(j, pj, c.values_) {
if (delta.contains(j)) {
const Vector& dj = delta[j];
//check_size(j,vj,dj);
newConfig.insert(j, expmap(pj,dj));
} else
newConfig.insert(j, pj);
}
return newConfig;
}
template<class T>
LieConfig<T> expmap(const LieConfig<T>& c, const Vector& delta) {
LieConfig<T> newConfig;
std::pair<std::string, Vector> value;
int delta_offset = 0;
BOOST_FOREACH(value, c) {
int cur_dim = dim(value.second);
newConfig.insert(value.first,
expmap(value.second,
sub(delta, delta_offset, delta_offset+cur_dim)));
delta_offset += cur_dim;
}
return newConfig;
}
}

115
cpp/LieConfig.h Normal file
View File

@ -0,0 +1,115 @@
/*
* LieConfig.h
*
* Created on: Jan 5, 2010
* Author: Richard Roberts
*
* A templated config for Lie-group elements
*/
#pragma once
#include <map>
#include <string>
#include <boost/foreach.hpp>
#include <utility>
#include <iostream>
#include <stdexcept>
#include <boost/optional.hpp>
#include "Testable.h"
#include "VectorConfig.h"
#include "Vector.h"
#include "Lie.h"
namespace gtsam {
template<class T> class LieConfig;
/** Dimensionality of the tangent space */
template<class T>
size_t dim(const LieConfig<T>& c);
/** Add a delta config */
template<class T>
LieConfig<T> expmap(const LieConfig<T>& c, const VectorConfig& delta);
/** Add a delta vector, uses iterator order */
template<class T>
LieConfig<T> expmap(const LieConfig<T>& c, const Vector& delta);
template<class T>
class LieConfig : public Testable<LieConfig<T> > {
private:
std::map<std::string, T> values_;
size_t dim_;
public:
typedef typename std::map<std::string, T>::const_iterator iterator;
typedef iterator const_iterator;
LieConfig() : dim_(0) {}
LieConfig(const LieConfig& config) :
values_(config.values_), dim_(dim(config)) {}
virtual ~LieConfig() {}
/** Retrieve a variable by key, throws std::invalid_argument if not found */
const T& get(std::string& key) const {
iterator it = values_.find(key);
if (it == values_.end()) throw std::invalid_argument("invalid key");
else return it->second;
}
/** Retrieve a variable by key, returns nothing if not found */
boost::optional<const T&> gettry(std::string& key) const {
const_iterator it = values_.find(key);
if (it == values_.end()) return boost::optional<const T&>();
else return it->second;
}
/** Add a variable with the given key */
void insert(const std::string& name, const T& val) {
values_.insert(make_pair(name, val));
dim_ += dim(val);
}
/** Replace all keys and variables */
LieConfig& operator=(const LieConfig& rhs) {
values_ = rhs.values_;
dim_ = dim(rhs);
return (*this);
}
/** Remove all variables from the config */
void clear() {
values_.clear();
dim_ = 0;
}
/** The number of variables in this config */
int size() { return values_.size(); }
/** Test whether configs are identical in keys and values */
bool equals(const LieConfig& expected, double tol=1e-9) const;
void print(const std::string &s) const;
const_iterator begin() const { return values_.begin(); }
const_iterator end() const { return values_.end(); }
iterator begin() { return values_.begin(); }
iterator end() { return values_.end(); }
friend LieConfig<T> expmap<T>(const LieConfig<T>& c, const VectorConfig& delta);
friend LieConfig<T> expmap<T>(const LieConfig<T>& c, const Vector& delta);
friend size_t dim<T>(const LieConfig<T>& c);
};
/** Dimensionality of the tangent space */
template<class T>
size_t dim(const LieConfig<T>& c) { return c.dim_; }
}

4
cpp/Makefile.am
View File

@ -159,7 +159,7 @@ testSQPOptimizer_LDADD = libgtsam.la
# geometry
headers += Lie.h Lie-inl.h
sources += Point2.cpp Rot2.cpp Pose2.cpp Point3.cpp Rot3.cpp Pose3.cpp Cal3_S2.cpp
check_PROGRAMS += testPoint2 testRot2 testPose2 testPoint3 testRot3 testPose3 testCal3_S2
check_PROGRAMS += testPoint2 testRot2 testPose2 testPoint3 testRot3 testPose3 testCal3_S2 testLieConfig
testPoint2_SOURCES = testPoint2.cpp
testRot2_SOURCES = testRot2.cpp
testPose2_SOURCES = testPose2.cpp
@ -167,6 +167,7 @@ testPoint3_SOURCES = testPoint3.cpp
testRot3_SOURCES = testRot3.cpp
testPose3_SOURCES = testPose3.cpp
testCal3_S2_SOURCES = testCal3_S2.cpp
testLieConfig_SOURCES = testLieConfig.cpp
testPoint2_LDADD = libgtsam.la
testRot2_LDADD = libgtsam.la
@ -175,6 +176,7 @@ testPoint3_LDADD = libgtsam.la
testRot3_LDADD = libgtsam.la
testPose3_LDADD = libgtsam.la
testCal3_S2_LDADD = libgtsam.la
testLieConfig_LDADD = libgtsam.la
noinst_PROGRAMS = timeRot3
timeRot3_SOURCES = timeRot3.cpp

1
cpp/Point2.h
View File

@ -8,6 +8,7 @@
#include <boost/serialization/nvp.hpp>
#include "Vector.h"
#include "Matrix.h"
#include "Testable.h"
#include "Lie.h"

2
cpp/Pose2.h
View File

@ -81,6 +81,8 @@ namespace gtsam {
/** Return the x,y,theta of this pose */
inline Vector logmap(const Pose2& p) { return Vector_(3, p.x(), p.y(), p.theta()); }
/** print using member print function, currently used by LieConfig */
inline void print(const Pose2& obj, const std::string& str = "") { obj.print(str); }
/** Return point coordinates in pose coordinate frame */
inline Point2 transform_to(const Pose2& pose, const Point2& point) {

33
cpp/Vector.h
View File

@ -19,6 +19,8 @@
typedef boost::numeric::ublas::vector<double> Vector;
#endif
#include "Lie.h"
namespace gtsam {
/**
@ -83,7 +85,7 @@ bool zero(const Vector& v);
/**
* dimensionality == size
*/
inline size_t dim(const Vector& v) { return v.size();}
inline size_t dim(const Vector& v) { return v.size(); }
/**
* print with optional string
@ -107,6 +109,20 @@ bool greaterThanOrEqual(const Vector& v1, const Vector& v2);
*/
bool equal_with_abs_tol(const Vector& vec1, const Vector& vec2, double tol=1e-9);
/**
* Override of equal in Lie.h
*/
inline bool equal(const Vector& vec1, const Vector& vec2, double tol) {
return equal_with_abs_tol(vec1, vec2, tol);
}
/**
* Override of equal in Lie.h
*/
inline bool equal(const Vector& vec1, const Vector& vec2) {
return equal_with_abs_tol(vec1, vec2);
}
/**
* Same, prints if error
* @param vec1 Vector
@ -193,6 +209,21 @@ Vector concatVectors(size_t nrVectors, ...);
*/
Vector rand_vector_norm(size_t dim, double mean = 0, double sigma = 1);
/**
* Exponential map, just returns the vector itself
*/
template<> inline Vector expmap(const Vector& v) { return v; }
/**
* Compose, adds vectors
*/
inline Vector compose(const Vector& v0, const Vector& v1) { return v0+v1; }
/**
* Inverse, negates the vector
*/
inline Vector inverse(const Vector& v) { return -v; }
} // namespace gtsam
static boost::minstd_rand generator(42u);

122
cpp/testLieConfig.cpp Normal file
View File

@ -0,0 +1,122 @@
/*
* testLieConfig.cpp
*
* Created on: Jan 5, 2010
* Author: richard
*/
#include <CppUnitLite/TestHarness.h>
#include <stdexcept>
#include <Pose2.h>
#include "LieConfig-inl.h"
#include "Vector.h"
using namespace gtsam;
using namespace std;
/* ************************************************************************* */
TEST( LieConfig, equals1 )
{
LieConfig<Vector> expected;
Vector v = Vector_(3, 5.0, 6.0, 7.0);
expected.insert("a",v);
LieConfig<Vector> actual;
actual.insert("a",v);
CHECK(assert_equal(expected,actual));
}
/* ************************************************************************* */
TEST( LieConfig, equals2 )
{
LieConfig<Vector> cfg1, cfg2;
Vector v1 = Vector_(3, 5.0, 6.0, 7.0);
Vector v2 = Vector_(3, 5.0, 6.0, 8.0);
cfg1.insert("x", v1);
cfg2.insert("x", v2);
CHECK(!cfg1.equals(cfg2));
CHECK(!cfg2.equals(cfg1));
}
/* ************************************************************************* */
TEST( LieConfig, equals_nan )
{
LieConfig<Vector> cfg1, cfg2;
Vector v1 = Vector_(3, 5.0, 6.0, 7.0);
Vector v2 = Vector_(3, 0.0/0.0, 0.0/0.0, 0.0/0.0);
cfg1.insert("x", v1);
cfg2.insert("x", v2);
CHECK(!cfg1.equals(cfg2));
CHECK(!cfg2.equals(cfg1));
}
/* ************************************************************************* */
TEST(LieConfig, expmap_a)
{
LieConfig<Vector> config0;
config0.insert("v1", Vector_(3, 1.0, 2.0, 3.0));
config0.insert("v2", Vector_(3, 5.0, 6.0, 7.0));
VectorConfig increment;
increment.insert("v1", Vector_(3, 1.0, 1.1, 1.2));
increment.insert("v2", Vector_(3, 1.3, 1.4, 1.5));
LieConfig<Vector> expected;
expected.insert("v1", Vector_(3, 2.0, 3.1, 4.2));
expected.insert("v2", Vector_(3, 6.3, 7.4, 8.5));
CHECK(assert_equal(expected, expmap(config0, increment)));
}
/* ************************************************************************* */
TEST(LieConfig, expmap_b)
{
LieConfig<Vector> config0;
config0.insert("v1", Vector_(3, 1.0, 2.0, 3.0));
config0.insert("v2", Vector_(3, 5.0, 6.0, 7.0));
VectorConfig increment;
increment.insert("v2", Vector_(3, 1.3, 1.4, 1.5));
LieConfig<Vector> expected;
expected.insert("v1", Vector_(3, 1.0, 2.0, 3.0));
expected.insert("v2", Vector_(3, 6.3, 7.4, 8.5));
CHECK(assert_equal(expected, expmap(config0, increment)));
}
/* ************************************************************************* */
TEST(LieConfig, expmap_c)
{
LieConfig<Vector> config0;
config0.insert("v1", Vector_(3, 1.0, 2.0, 3.0));
config0.insert("v2", Vector_(3, 5.0, 6.0, 7.0));
Vector increment = Vector_(6,
1.0, 1.1, 1.2,
1.3, 1.4, 1.5);
LieConfig<Vector> expected;
expected.insert("v1", Vector_(3, 2.0, 3.1, 4.2));
expected.insert("v2", Vector_(3, 6.3, 7.4, 8.5));
CHECK(assert_equal(expected, expmap(config0, increment)));
}
/* ************************************************************************* */
TEST(LieConfig, expmap_d)
{
LieConfig<Vector> config0;
config0.insert("v1", Vector_(3, 1.0, 2.0, 3.0));
config0.insert("v2", Vector_(3, 5.0, 6.0, 7.0));
config0.print("config0");
LieConfig<Pose2> poseconfig;
poseconfig.insert("p1", Pose2(1,2,3));
poseconfig.insert("p2", Pose2(0.3, 0.4, 0.5));
poseconfig.print("poseconfig");
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */