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Fixed arguments in constructors

release/4.3a0
Frank Dellaert 2023-01-25 18:32:50 -08:00
parent e5964736d1
commit 6e6bb6b513
2 changed files with 14 additions and 19 deletions
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22
gtsam/linear/tests/testJacobianFactor.cpp
View File

@ -35,8 +35,8 @@ using Dims = std::vector<Eigen::Index>; // For constructing block matrices
namespace { namespace {
namespace simple { namespace simple {
// Terms we'll use // Terms we'll use
const vector<pair<Key, Matrix> > terms{ using Terms = vector<pair<Key, Matrix> >;
{5, I_3x3}, {10, 2 * I_3x3}, {15, 3 * I_3x3}}; const Terms terms{{5, I_3x3}, {10, 2 * I_3x3}, {15, 3 * I_3x3}};
// RHS and sigmas // RHS and sigmas
const Vector b = Vector3(1., 2., 3.); const Vector b = Vector3(1., 2., 3.);
@ -53,8 +53,7 @@ TEST(JacobianFactor, constructors_and_accessors)
// Test for using different numbers of terms // Test for using different numbers of terms
{ {
// b vector only constructor // b vector only constructor
JacobianFactor expected( JacobianFactor expected(Terms{}, b);
std::vector(terms.begin(), terms.begin()), b);
JacobianFactor actual(b); JacobianFactor actual(b);
EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(expected, actual));
EXPECT(assert_equal(b, expected.getb())); EXPECT(assert_equal(b, expected.getb()));
@ -64,8 +63,7 @@ TEST(JacobianFactor, constructors_and_accessors)
} }
{ {
// One term constructor // One term constructor
JacobianFactor expected( JacobianFactor expected(Terms{terms[0]}, b, noise);
std::vector(terms.begin(), terms.begin() + 1), b, noise);
JacobianFactor actual(terms[0].first, terms[0].second, b, noise); JacobianFactor actual(terms[0].first, terms[0].second, b, noise);
EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(expected, actual));
LONGS_EQUAL((long)terms[0].first, (long)actual.keys().back()); LONGS_EQUAL((long)terms[0].first, (long)actual.keys().back());
@ -77,8 +75,7 @@ TEST(JacobianFactor, constructors_and_accessors)
} }
{ {
// Two term constructor // Two term constructor
JacobianFactor expected( JacobianFactor expected(Terms{terms[0], terms[1]}, b, noise);
std::vector(terms.begin(), terms.begin() + 2), b, noise);
JacobianFactor actual(terms[0].first, terms[0].second, JacobianFactor actual(terms[0].first, terms[0].second,
terms[1].first, terms[1].second, b, noise); terms[1].first, terms[1].second, b, noise);
EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(expected, actual));
@ -91,8 +88,7 @@ TEST(JacobianFactor, constructors_and_accessors)
} }
{ {
// Three term constructor // Three term constructor
JacobianFactor expected( JacobianFactor expected(Terms{terms[0], terms[1], terms[2]}, b, noise);
std::vector(terms.begin(), terms.begin() + 3), b, noise);
JacobianFactor actual(terms[0].first, terms[0].second, JacobianFactor actual(terms[0].first, terms[0].second,
terms[1].first, terms[1].second, terms[2].first, terms[2].second, b, noise); terms[1].first, terms[1].second, terms[2].first, terms[2].second, b, noise);
EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(expected, actual));
@ -105,8 +101,7 @@ TEST(JacobianFactor, constructors_and_accessors)
} }
{ {
// Test three-term constructor with std::map // Test three-term constructor with std::map
JacobianFactor expected( JacobianFactor expected(Terms{terms[0], terms[1], terms[2]}, b, noise);
std::vector(terms.begin(), terms.begin() + 3), b, noise);
map<Key,Matrix> mapTerms; map<Key,Matrix> mapTerms;
// note order of insertion plays no role: order will be determined by keys // note order of insertion plays no role: order will be determined by keys
mapTerms.insert(terms[2]); mapTerms.insert(terms[2]);
@ -123,8 +118,7 @@ TEST(JacobianFactor, constructors_and_accessors)
} }
{ {
// VerticalBlockMatrix constructor // VerticalBlockMatrix constructor
JacobianFactor expected( JacobianFactor expected(Terms{terms[0], terms[1], terms[2]}, b, noise);
std::vector(terms.begin(), terms.begin() + 3), b, noise);
VerticalBlockMatrix blockMatrix(Dims{3, 3, 3, 1}, 3); VerticalBlockMatrix blockMatrix(Dims{3, 3, 3, 1}, 3);
blockMatrix(0) = terms[0].second; blockMatrix(0) = terms[0].second;
blockMatrix(1) = terms[1].second; blockMatrix(1) = terms[1].second;

11
gtsam_unstable/linear/tests/testLinearEquality.cpp
View File

@ -29,8 +29,9 @@ GTSAM_CONCEPT_TESTABLE_INST(LinearEquality)
namespace { namespace {
namespace simple { namespace simple {
// Terms we'll use // Terms we'll use
const vector<pair<Key, Matrix> > terms{ using Terms = vector<pair<Key, Matrix> >;
make_pair(5, I_3x3), make_pair(10, 2 * I_3x3), make_pair(15, 3 * I_3x3)}; const Terms terms{make_pair(5, I_3x3), make_pair(10, 2 * I_3x3),
make_pair(15, 3 * I_3x3)};
// RHS and sigmas // RHS and sigmas
const Vector b = (Vector(3) << 1., 2., 3.).finished(); const Vector b = (Vector(3) << 1., 2., 3.).finished();
@ -45,7 +46,7 @@ TEST(LinearEquality, constructors_and_accessors) {
// Test for using different numbers of terms // Test for using different numbers of terms
{ {
// One term constructor // One term constructor
LinearEquality expected(terms.begin(), terms.begin() + 1, b, 0); LinearEquality expected(Terms(terms.begin(), terms.begin() + 1), b, 0);
LinearEquality actual(terms[0].first, terms[0].second, b, 0); LinearEquality actual(terms[0].first, terms[0].second, b, 0);
EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(expected, actual));
LONGS_EQUAL((long)terms[0].first, (long)actual.keys().back()); LONGS_EQUAL((long)terms[0].first, (long)actual.keys().back());
@ -56,7 +57,7 @@ TEST(LinearEquality, constructors_and_accessors) {
} }
{ {
// Two term constructor // Two term constructor
LinearEquality expected(terms.begin(), terms.begin() + 2, b, 0); LinearEquality expected(Terms(terms.begin(), terms.begin() + 2), b, 0);
LinearEquality actual(terms[0].first, terms[0].second, terms[1].first, LinearEquality actual(terms[0].first, terms[0].second, terms[1].first,
terms[1].second, b, 0); terms[1].second, b, 0);
EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(expected, actual));
@ -68,7 +69,7 @@ TEST(LinearEquality, constructors_and_accessors) {
} }
{ {
// Three term constructor // Three term constructor
LinearEquality expected(terms.begin(), terms.begin() + 3, b, 0); LinearEquality expected(Terms(terms.begin(), terms.begin() + 3), b, 0);
LinearEquality actual(terms[0].first, terms[0].second, terms[1].first, LinearEquality actual(terms[0].first, terms[0].second, terms[1].first,
terms[1].second, terms[2].first, terms[2].second, b, terms[1].second, terms[2].first, terms[2].second, b,
0); 0);