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boost::bind and placeholders

release/4.3a0
kartik arcot 2023-01-20 17:51:38 -08:00 committed by Frank Dellaert
parent 178a022966
commit 5a257ff36b
1 changed files with 6 additions and 6 deletions
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12
gtsam/basis/tests/testChebyshev2.cpp
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@ -25,10 +25,10 @@
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <functional>
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
using namespace boost::placeholders;
namespace { namespace {
noiseModel::Diagonal::shared_ptr model = noiseModel::Unit::Create(1); noiseModel::Diagonal::shared_ptr model = noiseModel::Unit::Create(1);
@ -119,8 +119,8 @@ TEST(Chebyshev2, InterpolateVector) {
EXPECT(assert_equal(expected, fx(X, actualH), 1e-9)); EXPECT(assert_equal(expected, fx(X, actualH), 1e-9));
// Check derivative // Check derivative
std::function<Vector2(ParameterMatrix<2>)> f = boost::bind( std::function<Vector2(ParameterMatrix<2>)> f = std::bind(
&Chebyshev2::VectorEvaluationFunctor<2>::operator(), fx, _1, nullptr); &Chebyshev2::VectorEvaluationFunctor<2>::operator(), fx, std::placeholders::_1, nullptr);
Matrix numericalH = Matrix numericalH =
numericalDerivative11<Vector2, ParameterMatrix<2>, 2 * N>(f, X); numericalDerivative11<Vector2, ParameterMatrix<2>, 2 * N>(f, X);
EXPECT(assert_equal(numericalH, actualH, 1e-9)); EXPECT(assert_equal(numericalH, actualH, 1e-9));
@ -378,7 +378,7 @@ TEST(Chebyshev2, VectorDerivativeFunctor) {
// Test Jacobian // Test Jacobian
Matrix expectedH = numericalDerivative11<Vector2, ParameterMatrix<M>, M * N>( Matrix expectedH = numericalDerivative11<Vector2, ParameterMatrix<M>, M * N>(
boost::bind(&VecD::operator(), fx, _1, nullptr), X); std::bind(&VecD::operator(), fx, std::placeholders::_1, nullptr), X);
EXPECT(assert_equal(expectedH, actualH, 1e-7)); EXPECT(assert_equal(expectedH, actualH, 1e-7));
} }
@ -410,7 +410,7 @@ TEST(Chebyshev2, VectorDerivativeFunctor2) {
VecD vecd(N, points(0), 0, T); VecD vecd(N, points(0), 0, T);
vecd(X, actualH); vecd(X, actualH);
Matrix expectedH = numericalDerivative11<Vector1, ParameterMatrix<M>, M * N>( Matrix expectedH = numericalDerivative11<Vector1, ParameterMatrix<M>, M * N>(
boost::bind(&VecD::operator(), vecd, _1, nullptr), X); std::bind(&VecD::operator(), vecd, std::placeholders::_1, nullptr), X);
EXPECT(assert_equal(expectedH, actualH, 1e-6)); EXPECT(assert_equal(expectedH, actualH, 1e-6));
} }
@ -427,7 +427,7 @@ TEST(Chebyshev2, ComponentDerivativeFunctor) {
EXPECT_DOUBLES_EQUAL(0, fx(X, actualH), 1e-8); EXPECT_DOUBLES_EQUAL(0, fx(X, actualH), 1e-8);
Matrix expectedH = numericalDerivative11<double, ParameterMatrix<M>, M * N>( Matrix expectedH = numericalDerivative11<double, ParameterMatrix<M>, M * N>(
boost::bind(&CompFunc::operator(), fx, _1, nullptr), X); std::bind(&CompFunc::operator(), fx, std::placeholders::_1, nullptr), X);
EXPECT(assert_equal(expectedH, actualH, 1e-7)); EXPECT(assert_equal(expectedH, actualH, 1e-7));
} }