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Point2 now Testable, removed obsolete assert_equal, as every testable class can use the template version in Testable.h

release/4.3a0
Frank Dellaert 2009-10-22 14:43:36 +00:00
parent 9a579fcdaf
commit 6c8531ed9c
2 changed files with 16 additions and 29 deletions
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15
cpp/Point2.cpp
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@ -15,25 +15,14 @@ namespace gtsam {
cout << s << "(" << x_ << ", " << y_ << ")" << endl;
}
/* ************************************************************************* */
double Point2::dist(const Point2& p2) const {
return sqrt(pow(x() - p2.x(), 2.0) + pow(y() - p2.y(), 2.0));
}
/* ************************************************************************* */
bool Point2::equals(const Point2& q, double tol) const {
return (fabs(x_ - q.x()) < tol && fabs(y_ - q.y()) < tol);
}
/* ************************************************************************* */
bool assert_equal(const Point2& p, const Point2& q, double tol) {
if (p.equals(q, tol))
return true;
printf("not equal:\n");
p.print("p = ");
q.print("q = ");
(p - q).print("p-q = ");
return false;
double Point2::dist(const Point2& p2) const {
return sqrt(pow(x() - p2.x(), 2.0) + pow(y() - p2.y(), 2.0));
}
/* ************************************************************************* */

30
cpp/Point2.h
View File

@ -8,13 +8,18 @@
#include <boost/serialization/nvp.hpp>
#include "Vector.h"
#include "Testable.h"
namespace gtsam {
/** A 2D point */
class Point2 {
/**
* A 2D point
* Derived from testable so has standard print and equals, and assert_equals works
* Functional, so no set functions: once created, a point is constant.
*/
class Point2: Testable<Point2> {
private:
double x_, y_;
double x_, y_;
public:
Point2(): x_(0), y_(0) {}
@ -22,14 +27,16 @@ namespace gtsam {
Point2(double x, double y): x_(x), y_(y) {}
Point2(const Vector& v) : x_(v(0)), y_(v(1)) {}
/** print with optional string */
void print(const std::string& s = "") const;
/** equals with an tolerance, prints out message if unequal*/
bool equals(const Point2& q, double tol = 1e-9) const;
/** get functions for x, y */
double x() const {return x_;}
double y() const {return y_;}
/** set functions for x, y */
void set_x(double x) {x_=x;}
void set_y(double y) {y_=y;}
/** return DOF, dimensionality of tangent space */
size_t dim() const { return 2;}
@ -51,15 +58,9 @@ namespace gtsam {
inline Point2 operator - (const Point2& q) const {return Point2(x_-q.x_,y_-q.y_);}
inline Point2 operator / (double q) const {return Point2(x_/q,y_/q);}
/** print with optional string */
void print(const std::string& s = "") const;
/** distance between two points */
double dist(const Point2& p2) const;
/** equals with an tolerance, prints out message if unequal*/
bool equals(const Point2& q, double tol = 1e-9) const;
private:
/** Serialization function */
friend class boost::serialization::access;
@ -70,8 +71,5 @@ namespace gtsam {
ar & BOOST_SERIALIZATION_NVP(y_);
}
};
/** equals with an tolerance, prints out message if unequal*/
bool assert_equal(const Point2& p, const Point2& q, double tol = 1e-9);
}