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Commented with Jing

release/4.3a0
dellaert 2015-04-06 08:58:38 -07:00
parent 9755b95e89
commit 69ff1c4e7d
2 changed files with 20 additions and 7 deletions
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22
gtsam/nonlinear/Values-inl.h
View File

@ -261,6 +261,7 @@ namespace gtsam {
struct handle {
ValueType operator()(Key j, const gtsam::Value * const pointer) {
try {
// value returns a const ValueType&, and the return makes a copy !!!!!
return dynamic_cast<const GenericValue<ValueType>&>(*pointer).value();
} catch (std::bad_cast &) {
throw ValuesIncorrectType(j, typeid(*pointer), typeid(ValueType));
@ -274,42 +275,49 @@ namespace gtsam {
Eigen::Matrix<double, -1, 1> operator()(Key j,
const gtsam::Value * const pointer) {
try {
// value returns a const Vector&, and the return makes a copy !!!!!
return dynamic_cast<const GenericValue<Eigen::Matrix<double, -1, 1> >&>(*pointer).value();
} catch (std::bad_cast &) {
// If a fixed vector was stored, we end up here as well.
throw ValuesIncorrectType(j, typeid(*pointer),
typeid(Eigen::Matrix<double, -1, 1>));
}
}
};
/*
// Handle dynamic matrices
template<int N>
struct handle<Eigen::Matrix<double, -1, N> > {
Eigen::Matrix<double, -1, N> operator()(Key j,
const gtsam::Value * const pointer) {
try {
// value returns a const Matrix&, and the return makes a copy !!!!!
return dynamic_cast<const GenericValue<Eigen::Matrix<double, -1, N> >&>(*pointer).value();
} catch (std::bad_cast &) {
// If a fixed matrix was stored, we end up here as well.
throw ValuesIncorrectType(j, typeid(*pointer),
typeid(Eigen::Matrix<double, -1, N>));
}
}
};
*/
// Request for a fixed vector
// TODO(jing): is this piece of code really needed ???
template<int M>
struct handle<Eigen::Matrix<double, M, 1> > {
Eigen::Matrix<double, M, 1> operator()(Key j,
const gtsam::Value * const pointer) {
try {
// value returns a const VectorM&, and the return makes a copy !!!!!
return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, 1> >&>(*pointer).value();
} catch (std::bad_cast &) {
Matrix A = handle<Eigen::VectorXd>()(j, pointer);
// Check if a dynamic vector was stored
Matrix A = handle<Eigen::VectorXd>()(j, pointer); // will throw if not....
// Yes: check size, and throw if not a match
if (A.rows() != M || A.cols() != 1)
throw NoMatchFoundForFixed(M, 1, A.rows(), A.cols());
else
// This is not a copy because of RVO
return A;
}
}
@ -321,12 +329,16 @@ namespace gtsam {
Eigen::Matrix<double, M, N> operator()(Key j,
const gtsam::Value * const pointer) {
try {
// value returns a const MatrixMN&, and the return makes a copy !!!!!
return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N> >&>(*pointer).value();
} catch (std::bad_cast &) {
Matrix A = handle<Eigen::MatrixXd>()(j, pointer);
// Check if a dynamic matrix was stored
Matrix A = handle<Eigen::MatrixXd>()(j, pointer); // will throw if not....
// Yes: check size, and throw if not a match
if (A.rows() != M || A.cols() != N)
throw NoMatchFoundForFixed(M, N, A.rows(), A.cols());
else
// This is not a copy because of RVO
return A;
}
}

5
gtsam/nonlinear/Values.h
View File

@ -173,8 +173,9 @@ namespace gtsam {
/** Retrieve a variable by key \c j. The type of the value associated with
* this key is supplied as a template argument to this function.
* @param j Retrieve the value associated with this key
* @tparam Value The type of the value stored with this key, this method
* throws DynamicValuesIncorrectType if this requested type is not correct.
* @tparam ValueType The type of the value stored with this key, this method
* Throws DynamicValuesIncorrectType if this requested type is not correct.
* Dynamic matrices/vectors can be retrieved as fixed-size, but not vice-versa.
* @return The stored value
*/
template<typename ValueType>