12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Now compiles but product construction fails because optional derivatives can't be delivered by the operator*()

release/4.3a0
dellaert 2014-09-28 10:22:19 +02:00
parent 11187a4c0d
commit 7be6ac0e8c
1 changed files with 20 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

39
gtsam_unstable/base/tests/testBAD.cpp
View File

@ -292,24 +292,6 @@ public:
root_.reset(new BinaryExpression<T, E1, E2>(f, expression1, expression2)); root_.reset(new BinaryExpression<T, E1, E2>(f, expression1, expression2));
} }
// http://stackoverflow.com/questions/16260445/boost-bind-to-operator
template<class R>
struct apply_product {
typedef R result_type;
template<class E1, class E2>
R operator()(E1 const& x, E2 const& y) const {
return x * y;
}
};
/// Construct a product expression, assumes E1::operator*() exists
template<typename E1, typename E2>
friend Expression<T> operator*(const Expression<E1>& expression1, const Expression<E2>& expression2) {
using namespace boost;
boost::bind(apply_product<T>,_1,_2);
return Expression<T>(boost::bind(apply_product<T>,_1,_2),expression1, expression2);
}
/// Return keys that play in this expression /// Return keys that play in this expression
std::set<Key> keys() const { std::set<Key> keys() const {
return root_->keys(); return root_->keys();
@ -327,6 +309,23 @@ public:
private: private:
boost::shared_ptr<ExpressionNode<T> > root_; boost::shared_ptr<ExpressionNode<T> > root_;
}; };
// http://stackoverflow.com/questions/16260445/boost-bind-to-operator
template<class E1, class E2>
struct apply_product {
typedef E2 result_type;
E2 operator()(E1 const& x, E2 const& y) const {
return x * y;
}
};
/// Construct a product expression, assumes E1 * E2 -> E1
template<typename E1, typename E2>
Expression<E2> operator*(const Expression<E1>& expression1, const Expression<E2>& expression2) {
using namespace boost;
return Expression<E2>(boost::bind(apply_product<E1,E2>(),_1,_2),expression1, expression2);
}
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
void printPair(std::pair<Key, Matrix> pair) { void printPair(std::pair<Key, Matrix> pair) {
@ -471,7 +470,9 @@ TEST(BAD, test) {
TEST(BAD, rotate) { TEST(BAD, rotate) {
Expression<Rot3> R(1); Expression<Rot3> R(1);
Expression<Point3> p(2); Expression<Point3> p(2);
Expression<Point3> q = R * p; // fails because optional derivatives can't be delivered by the operator
// Need a convention for products like these. "act" ?
// Expression<Point3> q = R * p;
} }
/* ************************************************************************* */ /* ************************************************************************* */