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Fixed renaming error with NonlinearFactors sometimes becoming NonGaussianFactors

release/4.3a0
Alex Cunningham 2009-11-12 16:47:12 +00:00
parent c7b86cec97
commit 5857635ca1
6 changed files with 14 additions and 14 deletions
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4
cpp/NonlinearFactor.cpp
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@ -26,7 +26,7 @@ NonlinearFactor1::NonlinearFactor1(const Vector& z,
/* ************************************************************************* */ /* ************************************************************************* */
void NonlinearFactor1::print(const string& s) const { void NonlinearFactor1::print(const string& s) const {
cout << "NonGaussianFactor1 " << s << endl; cout << "NonlinearFactor1 " << s << endl;
cout << "h : " << (void*)h_ << endl; cout << "h : " << (void*)h_ << endl;
cout << "key: " << key_ << endl; cout << "key: " << key_ << endl;
cout << "H : " << (void*)H_ << endl; cout << "H : " << (void*)H_ << endl;
@ -77,7 +77,7 @@ NonlinearFactor2::NonlinearFactor2(const Vector& z,
/* ************************************************************************* */ /* ************************************************************************* */
void NonlinearFactor2::print(const string& s) const { void NonlinearFactor2::print(const string& s) const {
cout << "NonGaussianFactor2 " << s << endl; cout << "NonlinearFactor2 " << s << endl;
cout << "h : " << (void*)h_ << endl; cout << "h : " << (void*)h_ << endl;
cout << "key1: " << key1_ << endl; cout << "key1: " << key1_ << endl;
cout << "H2 : " << (void*)H2_ << endl; cout << "H2 : " << (void*)H2_ << endl;

2
cpp/NonlinearFactor.h
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@ -66,7 +66,7 @@ namespace gtsam {
/** print */ /** print */
void print(const std::string& s = "") const { void print(const std::string& s = "") const {
std::cout << "NonGaussianFactor " << s << std::endl; std::cout << "NonlinearFactor " << s << std::endl;
gtsam::print(z_, " z = "); gtsam::print(z_, " z = ");
std::cout << " sigma = " << sigma_ << std::endl; std::cout << " sigma = " << sigma_ << std::endl;
} }

2
cpp/NonlinearFactorGraph.h
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@ -17,7 +17,7 @@ namespace gtsam {
/** /**
* A non-linear factor graph is templated on a configuration, but the factor type * A non-linear factor graph is templated on a configuration, but the factor type
* is fixed as a NonGaussianFactor. The configurations are typically (in SAM) more general * is fixed as a NonlinearFactor. The configurations are typically (in SAM) more general
* than just vectors, e.g., Rot3 or Pose3, which are objects in non-linear manifolds. * than just vectors, e.g., Rot3 or Pose3, which are objects in non-linear manifolds.
* Linearizing the non-linear factor graph creates a linear factor graph on the * Linearizing the non-linear factor graph creates a linear factor graph on the
* tangent vector space at the linearization point. Because the tangent space is a true * tangent vector space at the linearization point. Because the tangent space is a true

2
cpp/Testable.h
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@ -32,7 +32,7 @@ namespace gtsam {
/** /**
* equality up to tolerance * equality up to tolerance
* tricky to implement, see NonGaussianFactor1 for an example * tricky to implement, see NonlinearFactor1 for an example
* equals is not supposed to print out *anything*, just return true|false * equals is not supposed to print out *anything*, just return true|false
*/ */
virtual bool equals(const Derived& expected, double tol) const = 0; virtual bool equals(const Derived& expected, double tol) const = 0;

16
cpp/testNonlinearFactor.cpp
View File

@ -21,7 +21,7 @@ using namespace gtsam;
typedef boost::shared_ptr<NonlinearFactor<VectorConfig> > shared_nlf; typedef boost::shared_ptr<NonlinearFactor<VectorConfig> > shared_nlf;
/* ************************************************************************* */ /* ************************************************************************* */
TEST( NonGaussianFactor, equals ) TEST( NonlinearFactor, equals )
{ {
double sigma = 1.0; double sigma = 1.0;
@ -40,7 +40,7 @@ TEST( NonGaussianFactor, equals )
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( NonGaussianFactor, equals2 ) TEST( NonlinearFactor, equals2 )
{ {
// create a non linear factor graph // create a non linear factor graph
ExampleNonlinearFactorGraph fg = createNonlinearFactorGraph(); ExampleNonlinearFactorGraph fg = createNonlinearFactorGraph();
@ -54,7 +54,7 @@ TEST( NonGaussianFactor, equals2 )
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( NonGaussianFactor, NonlinearFactor ) TEST( NonlinearFactor, NonlinearFactor )
{ {
// create a non linear factor graph // create a non linear factor graph
ExampleNonlinearFactorGraph fg = createNonlinearFactorGraph(); ExampleNonlinearFactorGraph fg = createNonlinearFactorGraph();
@ -81,7 +81,7 @@ TEST( NonGaussianFactor, NonlinearFactor )
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( NonGaussianFactor, linearize_f1 ) TEST( NonlinearFactor, linearize_f1 )
{ {
// Grab a non-linear factor // Grab a non-linear factor
ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph(); ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph();
@ -99,7 +99,7 @@ TEST( NonGaussianFactor, linearize_f1 )
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( NonGaussianFactor, linearize_f2 ) TEST( NonlinearFactor, linearize_f2 )
{ {
// Grab a non-linear factor // Grab a non-linear factor
ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph(); ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph();
@ -117,7 +117,7 @@ TEST( NonGaussianFactor, linearize_f2 )
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( NonGaussianFactor, linearize_f3 ) TEST( NonlinearFactor, linearize_f3 )
{ {
// Grab a non-linear factor // Grab a non-linear factor
ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph(); ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph();
@ -135,7 +135,7 @@ TEST( NonGaussianFactor, linearize_f3 )
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( NonGaussianFactor, linearize_f4 ) TEST( NonlinearFactor, linearize_f4 )
{ {
// Grab a non-linear factor // Grab a non-linear factor
ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph(); ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph();
@ -153,7 +153,7 @@ TEST( NonGaussianFactor, linearize_f4 )
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( NonGaussianFactor, size ) TEST( NonlinearFactor, size )
{ {
// create a non linear factor graph // create a non linear factor graph
ExampleNonlinearFactorGraph fg = createNonlinearFactorGraph(); ExampleNonlinearFactorGraph fg = createNonlinearFactorGraph();