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Replaced depreciated boost::shared_dynamic_cast with boost::dynamic_pointer_cast to work with boost 1.53

release/4.3a0
Alex Cunningham 2013-02-11 20:24:53 +00:00
parent 6eafc9420e
commit 7aa45115a1
4 changed files with 13 additions and 13 deletions
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8
gtsam/linear/tests/testNoiseModel.cpp
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@ -134,14 +134,14 @@ TEST(NoiseModel, equals)
//TEST(NoiseModel, ConstrainedSmart )
//{
// Gaussian::shared_ptr nonconstrained = Constrained::MixedSigmas(Vector_(3, sigma, 0.0, sigma), true);
// Diagonal::shared_ptr n1 = boost::shared_dynamic_cast<Diagonal>(nonconstrained);
// Constrained::shared_ptr n2 = boost::shared_dynamic_cast<Constrained>(nonconstrained);
// Diagonal::shared_ptr n1 = boost::dynamic_pointer_cast<Diagonal>(nonconstrained);
// Constrained::shared_ptr n2 = boost::dynamic_pointer_cast<Constrained>(nonconstrained);
// EXPECT(n1);
// EXPECT(!n2);
//
// Gaussian::shared_ptr constrained = Constrained::MixedSigmas(zero(3), true);
// Diagonal::shared_ptr c1 = boost::shared_dynamic_cast<Diagonal>(constrained);
// Constrained::shared_ptr c2 = boost::shared_dynamic_cast<Constrained>(constrained);
// Diagonal::shared_ptr c1 = boost::dynamic_pointer_cast<Diagonal>(constrained);
// Constrained::shared_ptr c2 = boost::dynamic_pointer_cast<Constrained>(constrained);
// EXPECT(c1);
// EXPECT(c2);
//}

12
gtsam/nonlinear/LinearContainerFactor.cpp
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@ -169,10 +169,10 @@ GaussianFactor::shared_ptr LinearContainerFactor::linearize(
// clone and reorder linear factor to final ordering
GaussianFactor::shared_ptr linFactor = order(localOrdering);
if (isJacobian()) {
JacobianFactor::shared_ptr jacFactor = boost::shared_dynamic_cast<JacobianFactor>(linFactor);
JacobianFactor::shared_ptr jacFactor = boost::dynamic_pointer_cast<JacobianFactor>(linFactor);
jacFactor->getb() += jacFactor->unweighted_error(delta) + jacFactor->getb();
} else {
HessianFactor::shared_ptr hesFactor = boost::shared_dynamic_cast<HessianFactor>(linFactor);
HessianFactor::shared_ptr hesFactor = boost::dynamic_pointer_cast<HessianFactor>(linFactor);
size_t dim = hesFactor->linearTerm().size();
Eigen::Block<HessianFactor::Block> Gview = hesFactor->info().block(0, 0, dim, dim);
Vector G_delta = Gview.selfadjointView<Eigen::Upper>() * deltaVector;
@ -188,22 +188,22 @@ GaussianFactor::shared_ptr LinearContainerFactor::linearize(
/* ************************************************************************* */
bool LinearContainerFactor::isJacobian() const {
return boost::shared_dynamic_cast<JacobianFactor>(factor_);
return boost::dynamic_pointer_cast<JacobianFactor>(factor_);
}
/* ************************************************************************* */
bool LinearContainerFactor::isHessian() const {
return boost::shared_dynamic_cast<HessianFactor>(factor_);
return boost::dynamic_pointer_cast<HessianFactor>(factor_);
}
/* ************************************************************************* */
JacobianFactor::shared_ptr LinearContainerFactor::toJacobian() const {
return boost::shared_dynamic_cast<JacobianFactor>(factor_);
return boost::dynamic_pointer_cast<JacobianFactor>(factor_);
}
/* ************************************************************************* */
HessianFactor::shared_ptr LinearContainerFactor::toHessian() const {
return boost::shared_dynamic_cast<HessianFactor>(factor_);
return boost::dynamic_pointer_cast<HessianFactor>(factor_);
}
/* ************************************************************************* */

2
gtsam/nonlinear/NonlinearFactor.h
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@ -338,7 +338,7 @@ public:
// TODO pass unwhitened + noise model to Gaussian factor
noiseModel::Constrained::shared_ptr constrained =
boost::shared_dynamic_cast<noiseModel::Constrained>(this->noiseModel_);
boost::dynamic_pointer_cast<noiseModel::Constrained>(this->noiseModel_);
if(constrained)
return GaussianFactor::shared_ptr(
new JacobianFactor(terms, b, constrained->unit()));

4
tests/testExtendedKalmanFilter.cpp
View File

@ -199,7 +199,7 @@ public:
Vector b = -evaluateError(x1, x2, A1, A2);
const Index var1 = ordering[key1()], var2 = ordering[key2()];
SharedDiagonal constrained =
boost::shared_dynamic_cast<noiseModel::Constrained>(this->noiseModel_);
boost::dynamic_pointer_cast<noiseModel::Constrained>(this->noiseModel_);
if (constrained.get() != NULL) {
return JacobianFactor::shared_ptr(new JacobianFactor(var1, A1, var2,
A2, b, constrained));
@ -335,7 +335,7 @@ public:
Vector b = -evaluateError(x1, A1);
const Index var1 = ordering[key()];
SharedDiagonal constrained =
boost::shared_dynamic_cast<noiseModel::Constrained>(this->noiseModel_);
boost::dynamic_pointer_cast<noiseModel::Constrained>(this->noiseModel_);
if (constrained.get() != NULL) {
return JacobianFactor::shared_ptr(new JacobianFactor(var1, A1, b, constrained));
}