12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

replace atof/atoi with standardized stof/stoi

release/4.3a0
Varun Agrawal 2020-08-17 13:12:40 -04:00
parent be70d1785c
commit 5a85494f33
2 changed files with 14 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
examples/CombinedImuFactorsExample.cpp
View File

@ -85,10 +85,10 @@ Vector10 readInitialState(ifstream& file) {
getline(file, value, ','); // i getline(file, value, ','); // i
for (int i = 0; i < 9; i++) { for (int i = 0; i < 9; i++) {
getline(file, value, ','); getline(file, value, ',');
initial_state(i) = atof(value.c_str()); initial_state(i) = stof(value.c_str());
} }
getline(file, value, '\n'); getline(file, value, '\n');
initial_state(9) = atof(value.c_str()); initial_state(9) = stof(value.c_str());
return initial_state; return initial_state;
} }
@ -204,16 +204,16 @@ int main(int argc, char* argv[]) {
// Parse out first value // Parse out first value
string value; string value;
getline(file, value, ','); getline(file, value, ',');
int type = atoi(value.c_str()); int type = stoi(value.c_str());
if (type == 0) { // IMU measurement if (type == 0) { // IMU measurement
Vector6 imu; Vector6 imu;
for (int i = 0; i < 5; ++i) { for (int i = 0; i < 5; ++i) {
getline(file, value, ','); getline(file, value, ',');
imu(i) = atof(value.c_str()); imu(i) = stof(value.c_str());
} }
getline(file, value, '\n'); getline(file, value, '\n');
imu(5) = atof(value.c_str()); imu(5) = stof(value.c_str());
// Adding the IMU preintegration. // Adding the IMU preintegration.
preintegrated->integrateMeasurement(imu.head<3>(), imu.tail<3>(), dt); preintegrated->integrateMeasurement(imu.head<3>(), imu.tail<3>(), dt);
@ -222,10 +222,10 @@ int main(int argc, char* argv[]) {
Vector7 gps; Vector7 gps;
for (int i = 0; i < 6; ++i) { for (int i = 0; i < 6; ++i) {
getline(file, value, ','); getline(file, value, ',');
gps(i) = atof(value.c_str()); gps(i) = stof(value.c_str());
} }
getline(file, value, '\n'); getline(file, value, '\n');
gps(6) = atof(value.c_str()); gps(6) = stof(value.c_str());
index++; index++;

14
examples/ImuFactorsExample.cpp
View File

@ -154,10 +154,10 @@ int main(int argc, char* argv[]) {
getline(file, value, ','); // i getline(file, value, ','); // i
for (int i = 0; i < 9; i++) { for (int i = 0; i < 9; i++) {
getline(file, value, ','); getline(file, value, ',');
initial_state(i) = atof(value.c_str()); initial_state(i) = stof(value.c_str());
} }
getline(file, value, '\n'); getline(file, value, '\n');
initial_state(9) = atof(value.c_str()); initial_state(9) = stof(value.c_str());
cout << "initial state:\n" << initial_state.transpose() << "\n\n"; cout << "initial state:\n" << initial_state.transpose() << "\n\n";
// Assemble initial quaternion through GTSAM constructor // Assemble initial quaternion through GTSAM constructor
@ -211,16 +211,16 @@ int main(int argc, char* argv[]) {
while (file.good()) { while (file.good()) {
// Parse out first value // Parse out first value
getline(file, value, ','); getline(file, value, ',');
int type = atoi(value.c_str()); int type = stoi(value.c_str());
if (type == 0) { // IMU measurement if (type == 0) { // IMU measurement
Vector6 imu; Vector6 imu;
for (int i = 0; i < 5; ++i) { for (int i = 0; i < 5; ++i) {
getline(file, value, ','); getline(file, value, ',');
imu(i) = atof(value.c_str()); imu(i) = stof(value.c_str());
} }
getline(file, value, '\n'); getline(file, value, '\n');
imu(5) = atof(value.c_str()); imu(5) = stof(value.c_str());
// Adding the IMU preintegration. // Adding the IMU preintegration.
preintegrated->integrateMeasurement(imu.head<3>(), imu.tail<3>(), dt); preintegrated->integrateMeasurement(imu.head<3>(), imu.tail<3>(), dt);
@ -229,10 +229,10 @@ int main(int argc, char* argv[]) {
Vector7 gps; Vector7 gps;
for (int i = 0; i < 6; ++i) { for (int i = 0; i < 6; ++i) {
getline(file, value, ','); getline(file, value, ',');
gps(i) = atof(value.c_str()); gps(i) = stof(value.c_str());
} }
getline(file, value, '\n'); getline(file, value, '\n');
gps(6) = atof(value.c_str()); gps(6) = stof(value.c_str());
correction_count++; correction_count++;