rename simple namespace to avoid clash on Windows
parent
f19cb3e677
commit
60ebd9cb4e
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@ -36,7 +36,7 @@ using namespace boost::assign;
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static Symbol x0('x', 0), x1('x', 1), x2('x', 2), x3('x', 3);
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static SharedNoiseModel model(noiseModel::Isotropic::Sigma(3, 0.1));
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namespace simple {
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namespace simpleLago {
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// We consider a small graph:
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// symbolic FG
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// x2 0 1
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@ -67,7 +67,7 @@ NonlinearFactorGraph graph() {
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/* *************************************************************************** */
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TEST( Lago, checkSTandChords ) {
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NonlinearFactorGraph g = simple::graph();
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NonlinearFactorGraph g = simpleLago::graph();
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PredecessorMap<Key> tree = findMinimumSpanningTree<NonlinearFactorGraph, Key,
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BetweenFactor<Pose2> >(g);
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@ -84,7 +84,7 @@ TEST( Lago, checkSTandChords ) {
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/* *************************************************************************** */
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TEST( Lago, orientationsOverSpanningTree ) {
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NonlinearFactorGraph g = simple::graph();
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NonlinearFactorGraph g = simpleLago::graph();
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PredecessorMap<Key> tree = findMinimumSpanningTree<NonlinearFactorGraph, Key,
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BetweenFactor<Pose2> >(g);
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@ -115,7 +115,7 @@ TEST( Lago, orientationsOverSpanningTree ) {
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/* *************************************************************************** */
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TEST( Lago, regularizedMeasurements ) {
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NonlinearFactorGraph g = simple::graph();
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NonlinearFactorGraph g = simpleLago::graph();
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PredecessorMap<Key> tree = findMinimumSpanningTree<NonlinearFactorGraph, Key,
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BetweenFactor<Pose2> >(g);
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@ -141,7 +141,7 @@ TEST( Lago, regularizedMeasurements ) {
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/* *************************************************************************** */
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TEST( Lago, smallGraphVectorValues ) {
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bool useOdometricPath = false;
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VectorValues initial = lago::initializeOrientations(simple::graph(), useOdometricPath);
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VectorValues initial = lago::initializeOrientations(simpleLago::graph(), useOdometricPath);
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// comparison is up to M_PI, that's why we add some multiples of 2*M_PI
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EXPECT(assert_equal((Vector(1) << 0.0), initial.at(x0), 1e-6));
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@ -153,7 +153,7 @@ TEST( Lago, smallGraphVectorValues ) {
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/* *************************************************************************** */
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TEST( Lago, smallGraphVectorValuesSP ) {
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VectorValues initial = lago::initializeOrientations(simple::graph());
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VectorValues initial = lago::initializeOrientations(simpleLago::graph());
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// comparison is up to M_PI, that's why we add some multiples of 2*M_PI
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EXPECT(assert_equal((Vector(1) << 0.0), initial.at(x0), 1e-6));
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@ -165,8 +165,8 @@ TEST( Lago, smallGraphVectorValuesSP ) {
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/* *************************************************************************** */
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TEST( Lago, multiplePosePriors ) {
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bool useOdometricPath = false;
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NonlinearFactorGraph g = simple::graph();
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g.add(PriorFactor<Pose2>(x1, simple::pose1, model));
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NonlinearFactorGraph g = simpleLago::graph();
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g.add(PriorFactor<Pose2>(x1, simpleLago::pose1, model));
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VectorValues initial = lago::initializeOrientations(g, useOdometricPath);
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// comparison is up to M_PI, that's why we add some multiples of 2*M_PI
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@ -178,8 +178,8 @@ TEST( Lago, multiplePosePriors ) {
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/* *************************************************************************** */
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TEST( Lago, multiplePosePriorsSP ) {
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NonlinearFactorGraph g = simple::graph();
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g.add(PriorFactor<Pose2>(x1, simple::pose1, model));
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NonlinearFactorGraph g = simpleLago::graph();
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g.add(PriorFactor<Pose2>(x1, simpleLago::pose1, model));
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VectorValues initial = lago::initializeOrientations(g);
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// comparison is up to M_PI, that's why we add some multiples of 2*M_PI
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@ -192,8 +192,8 @@ TEST( Lago, multiplePosePriorsSP ) {
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/* *************************************************************************** */
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TEST( Lago, multiplePoseAndRotPriors ) {
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bool useOdometricPath = false;
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NonlinearFactorGraph g = simple::graph();
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g.add(PriorFactor<Rot2>(x1, simple::pose1.theta(), model));
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NonlinearFactorGraph g = simpleLago::graph();
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g.add(PriorFactor<Rot2>(x1, simpleLago::pose1.theta(), model));
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VectorValues initial = lago::initializeOrientations(g, useOdometricPath);
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// comparison is up to M_PI, that's why we add some multiples of 2*M_PI
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@ -205,8 +205,8 @@ TEST( Lago, multiplePoseAndRotPriors ) {
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/* *************************************************************************** */
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TEST( Lago, multiplePoseAndRotPriorsSP ) {
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NonlinearFactorGraph g = simple::graph();
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g.add(PriorFactor<Rot2>(x1, simple::pose1.theta(), model));
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NonlinearFactorGraph g = simpleLago::graph();
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g.add(PriorFactor<Rot2>(x1, simpleLago::pose1.theta(), model));
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VectorValues initial = lago::initializeOrientations(g);
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// comparison is up to M_PI, that's why we add some multiples of 2*M_PI
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@ -221,20 +221,20 @@ TEST( Lago, smallGraphValues ) {
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// we set the orientations in the initial guess to zero
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Values initialGuess;
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initialGuess.insert(x0,Pose2(simple::pose0.x(),simple::pose0.y(),0.0));
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initialGuess.insert(x1,Pose2(simple::pose1.x(),simple::pose1.y(),0.0));
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initialGuess.insert(x2,Pose2(simple::pose2.x(),simple::pose2.y(),0.0));
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initialGuess.insert(x3,Pose2(simple::pose3.x(),simple::pose3.y(),0.0));
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initialGuess.insert(x0,Pose2(simpleLago::pose0.x(),simpleLago::pose0.y(),0.0));
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initialGuess.insert(x1,Pose2(simpleLago::pose1.x(),simpleLago::pose1.y(),0.0));
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initialGuess.insert(x2,Pose2(simpleLago::pose2.x(),simpleLago::pose2.y(),0.0));
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initialGuess.insert(x3,Pose2(simpleLago::pose3.x(),simpleLago::pose3.y(),0.0));
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// lago does not touch the Cartesian part and only fixed the orientations
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Values actual = lago::initialize(simple::graph(), initialGuess);
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Values actual = lago::initialize(simpleLago::graph(), initialGuess);
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// we are in a noiseless case
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Values expected;
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expected.insert(x0,simple::pose0);
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expected.insert(x1,simple::pose1);
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expected.insert(x2,simple::pose2);
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expected.insert(x3,simple::pose3);
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expected.insert(x0,simpleLago::pose0);
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expected.insert(x1,simpleLago::pose1);
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expected.insert(x2,simpleLago::pose2);
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expected.insert(x3,simpleLago::pose3);
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EXPECT(assert_equal(expected, actual, 1e-6));
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}
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@ -243,14 +243,14 @@ TEST( Lago, smallGraphValues ) {
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TEST( Lago, smallGraph2 ) {
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// lago does not touch the Cartesian part and only fixed the orientations
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Values actual = lago::initialize(simple::graph());
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Values actual = lago::initialize(simpleLago::graph());
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// we are in a noiseless case
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Values expected;
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expected.insert(x0,simple::pose0);
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expected.insert(x1,simple::pose1);
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expected.insert(x2,simple::pose2);
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expected.insert(x3,simple::pose3);
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expected.insert(x0,simpleLago::pose0);
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expected.insert(x1,simpleLago::pose1);
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expected.insert(x2,simpleLago::pose2);
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expected.insert(x3,simpleLago::pose3);
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EXPECT(assert_equal(expected, actual, 1e-6));
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}
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