unit tests for new Urban* classes
Frank Dellaert
parent
d75a602546
commit
7dfc67860c
72
.cproject
72
.cproject
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@ -300,7 +300,6 @@
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<buildTargets>
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<target name="install" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -308,7 +307,6 @@
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</target>
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<target name="check" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -324,7 +322,6 @@
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</target>
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<target name="testSimpleCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimpleCamera.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -340,6 +337,7 @@
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</target>
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<target name="testVSLAMFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVSLAMFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -347,7 +345,6 @@
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</target>
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<target name="testCalibratedCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testCalibratedCamera.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -355,6 +352,7 @@
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</target>
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<target name="testGaussianConditional.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianConditional.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -362,7 +360,6 @@
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</target>
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<target name="testPose2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPose2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -370,7 +367,6 @@
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</target>
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<target name="testRot3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testRot3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -378,6 +374,7 @@
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</target>
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<target name="testNonlinearOptimizer.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearOptimizer.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -385,7 +382,6 @@
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</target>
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<target name="testGaussianFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -393,7 +389,6 @@
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</target>
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<target name="testGaussianFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -401,6 +396,7 @@
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</target>
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<target name="testNonlinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -408,7 +404,6 @@
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</target>
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<target name="testPose3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPose3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -416,6 +411,7 @@
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</target>
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<target name="testVectorConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVectorConfig.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -423,6 +419,7 @@
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</target>
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<target name="testPoint2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPoint2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -430,7 +427,6 @@
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</target>
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<target name="testNonlinearFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -438,7 +434,6 @@
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</target>
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<target name="timeGaussianFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>timeGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -446,7 +441,6 @@
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</target>
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<target name="timeGaussianFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>timeGaussianFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -454,7 +448,6 @@
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</target>
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<target name="testGaussianBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -462,6 +455,7 @@
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</target>
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<target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -469,7 +463,6 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -477,6 +470,7 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -484,7 +478,6 @@
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</target>
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<target name="testVector.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -492,7 +485,6 @@
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</target>
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<target name="testMatrix.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testMatrix.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -500,6 +492,7 @@
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</target>
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<target name="testVSLAMGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVSLAMGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -507,6 +500,7 @@
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</target>
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<target name="testNonlinearEquality.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearEquality.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -514,7 +508,6 @@
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</target>
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<target name="testSQP.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSQP.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -522,6 +515,7 @@
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</target>
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<target name="testNonlinearConstraint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testNonlinearConstraint.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -529,7 +523,6 @@
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</target>
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<target name="testSQPOptimizer.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSQPOptimizer.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -537,7 +530,6 @@
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</target>
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<target name="testVSLAMConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testVSLAMConfig.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -545,7 +537,6 @@
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</target>
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<target name="testControlConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testControlConfig.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -553,7 +544,6 @@
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</target>
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<target name="testControlPoint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testControlPoint.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -561,6 +551,7 @@
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</target>
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<target name="testControlGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testControlGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -568,7 +559,6 @@
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</target>
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<target name="testOrdering.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testOrdering.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -576,6 +566,7 @@
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</target>
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<target name="testPose2Constraint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPose2Constraint.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -583,7 +574,6 @@
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</target>
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<target name="testRot2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testRot2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -591,14 +581,46 @@
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</target>
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<target name="testGaussianBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testPose3Factor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testPose3Factor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testUrbanGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testUrbanGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testUrbanConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testUrbanConfig.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testUrbanMeasurement.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testUrbanMeasurement.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -606,6 +628,7 @@
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</target>
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<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -613,6 +636,7 @@
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</target>
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<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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@ -123,35 +123,28 @@ timeGaussianFactorGraph: LDFLAGS += smallExample.o -L.libs -lgtsam -L../CppUnitL
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# Nonlinear inference
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headers += NonlinearFactorGraph.h NonlinearFactorGraph-inl.h
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headers += NonlinearOptimizer.h NonlinearOptimizer-inl.h
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headers += SQPOptimizer.h SQPOptimizer-inl.h
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headers += NonlinearConstraint.h NonlinearConstraint-inl.h
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headers += NonlinearEquality.h
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headers += Pose2Config.h Pose2Factor.h
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headers += UrbanGraph.h
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sources += NonlinearFactor.cpp
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sources += Pose2Graph.cpp
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sources += UrbanConfig.cpp UrbanMeasurement.cpp
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check_PROGRAMS += testNonlinearFactor testNonlinearFactorGraph testNonlinearOptimizer testNonlinearEquality testSQP testNonlinearConstraint testSQPOptimizer testPose2Factor testPose2Graph testUrbanGraph
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check_PROGRAMS += testNonlinearFactor testNonlinearFactorGraph testNonlinearOptimizer
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testNonlinearFactor_SOURCES = $(example) testNonlinearFactor.cpp
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testNonlinearFactor_LDADD = libgtsam.la
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testNonlinearConstraint_SOURCES = $(example) testNonlinearConstraint.cpp
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testNonlinearConstraint_LDADD = libgtsam.la
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testNonlinearFactorGraph_SOURCES = $(example) testNonlinearFactorGraph.cpp
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testNonlinearFactorGraph_LDADD = libgtsam.la
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testNonlinearOptimizer_SOURCES = $(example) testNonlinearOptimizer.cpp
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testNonlinearOptimizer_LDADD = libgtsam.la
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testSQPOptimizer_SOURCES = $(example) testSQPOptimizer.cpp
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testSQPOptimizer_LDADD = libgtsam.la
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# Nonlinear constraints
|
||||
headers += SQPOptimizer.h SQPOptimizer-inl.h
|
||||
headers += NonlinearConstraint.h NonlinearConstraint-inl.h
|
||||
headers += NonlinearEquality.h
|
||||
check_PROGRAMS += testNonlinearConstraint testNonlinearEquality testSQP testSQPOptimizer
|
||||
testNonlinearConstraint_SOURCES = testNonlinearConstraint.cpp
|
||||
testNonlinearConstraint_LDADD = libgtsam.la
|
||||
testNonlinearEquality_SOURCES = testNonlinearEquality.cpp
|
||||
testNonlinearEquality_LDADD = libgtsam.la
|
||||
testSQP_SOURCES = $(example) testSQP.cpp
|
||||
testSQP_LDADD = libgtsam.la
|
||||
testPose2Factor_SOURCES = $(example) testPose2Factor.cpp
|
||||
testPose2Factor_LDADD = libgtsam.la
|
||||
testPose2Graph_SOURCES = $(example) testPose2Graph.cpp
|
||||
testPose2Graph_LDADD = libgtsam.la
|
||||
testUrbanGraph_SOURCES = $(example) testUrbanGraph.cpp
|
||||
testUrbanGraph_LDADD = libgtsam.la
|
||||
testSQPOptimizer_SOURCES = $(example) testSQPOptimizer.cpp
|
||||
testSQPOptimizer_LDADD = libgtsam.la
|
||||
|
||||
# geometry
|
||||
sources += Point2.cpp Rot2.cpp Pose2.cpp Point3.cpp Rot3.cpp Pose3.cpp Cal3_S2.cpp
|
||||
|
|
@ -184,6 +177,28 @@ testSimulated3D_SOURCES = testSimulated3D.cpp
|
|||
testSimulated3D_LDADD = libgtsam.la
|
||||
check_PROGRAMS += testSimulated3D
|
||||
|
||||
# Pose constraints
|
||||
headers += Pose2Config.h Pose2Factor.h
|
||||
sources += Pose3Factor.cpp Pose2Graph.cpp
|
||||
check_PROGRAMS += testPose2Factor testPose2Graph testPose3Factor
|
||||
testPose2Factor_SOURCES = $(example) testPose2Factor.cpp
|
||||
testPose2Factor_LDADD = libgtsam.la
|
||||
testPose2Graph_SOURCES = $(example) testPose2Graph.cpp
|
||||
testPose2Graph_LDADD = libgtsam.la
|
||||
testPose3Factor_SOURCES = $(example) testPose3Factor.cpp
|
||||
testPose3Factor_LDADD = libgtsam.la
|
||||
|
||||
# Urban
|
||||
headers += UrbanGraph.h
|
||||
sources += UrbanConfig.cpp UrbanMeasurement.cpp
|
||||
check_PROGRAMS += testUrbanConfig testUrbanMeasurement testUrbanGraph
|
||||
testUrbanConfig_SOURCES = $(example) testUrbanConfig.cpp
|
||||
testUrbanConfig_LDADD = libgtsam.la
|
||||
testUrbanMeasurement_SOURCES = $(example) testUrbanMeasurement.cpp
|
||||
testUrbanMeasurement_LDADD = libgtsam.la
|
||||
testUrbanGraph_SOURCES = $(example) testUrbanGraph.cpp
|
||||
testUrbanGraph_LDADD = libgtsam.la
|
||||
|
||||
# Robot Control example system
|
||||
sources += ControlConfig.cpp ControlPoint.cpp ControlGraph.cpp
|
||||
check_PROGRAMS += testControlConfig testControlPoint testControlGraph
|
||||
|
|
|
|||
|
|
@ -5,22 +5,19 @@
|
|||
* @author Viorela Ila
|
||||
*/
|
||||
|
||||
#include "UrbanConfig.h"
|
||||
#include "Pose3Factor.h"
|
||||
#include "Pose3.h"
|
||||
#include "SimpleCamera.h"
|
||||
|
||||
using namespace std;
|
||||
namespace gtsam{
|
||||
namespace gtsam {
|
||||
|
||||
/* ************************************************************************* */
|
||||
/* ************************************************************************* *
|
||||
Pose3Factor::Pose3Factor() {
|
||||
/// Arbitrary values
|
||||
robotPoseNumber_ = 1;
|
||||
robotPoseName_ = symbol('x',robotPoseNumber_);
|
||||
keys_.push_back(robotPoseName_);
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
/* ************************************************************************* *
|
||||
Pose3Factor::Pose3Factor(const Point2& z, double sigma, int cn, int ln)
|
||||
: NonlinearFactor<Pose3Config>(z.vector(), sigma)
|
||||
{
|
||||
|
|
@ -32,13 +29,13 @@ Pose3Factor::Pose3Factor(const Point2& z, double sigma, int cn, int ln)
|
|||
keys_.push_back(landmarkName_);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
/* ************************************************************************* *
|
||||
void Pose3Factor::print(const std::string& s) const {
|
||||
printf("%s %s %s\n", s.c_str(), robotPoseName_.c_str(), landmarkName_.c_str());
|
||||
gtsam::print(this->z_, s+".z");
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
/* ************************************************************************* *
|
||||
bool Pose3Factor::equals(const Pose3Factor& p, double tol) const {
|
||||
if (&p == NULL) return false;
|
||||
if (robotPoseNumber_ != p.robotPoseNumber_ || landmarkNumber_ != p.landmarkNumber_) return false;
|
||||
|
|
@ -46,6 +43,7 @@ bool Pose3Factor::equals(const Pose3Factor& p, double tol) const {
|
|||
return true;
|
||||
}
|
||||
|
||||
/* ************************************************************************* *
|
||||
// TODO Implement transformPoint2_from
|
||||
// the difference here that we have a 2d point in a 3D coordinate
|
||||
Vector Pose3Factor::predict(const Pose3Config& c) const {
|
||||
|
|
@ -54,13 +52,14 @@ Vector Pose3Factor::predict(const Pose3Config& c) const {
|
|||
return transformPoint2_from(SimpleCamera(*K_,pose), landmark).vector();
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
/* ************************************************************************* *
|
||||
Vector Pose3Factor::error_vector(const Pose3Config& c) const {
|
||||
// Right-hand-side b = (z - h(x))/sigma
|
||||
Point2 h = predict(c);
|
||||
return (this->z_ - h);
|
||||
}
|
||||
|
||||
/* ************************************************************************* *
|
||||
GaussianFactor::shared_ptr Pose3Factor::linearize(const Pose3Config& c) const
|
||||
{
|
||||
// get arguments from config
|
||||
|
|
|
|||
|
|
@ -13,59 +13,68 @@
|
|||
#include "VectorConfig.h"
|
||||
#include "Pose3.h"
|
||||
#include "Matrix.h"
|
||||
#include "ostream"
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
template <class Config>
|
||||
class Pose3Factor : public NonlinearFactor<Config> {
|
||||
private:
|
||||
typedef VectorConfig Config;
|
||||
|
||||
class Pose3Factor: public NonlinearFactor<Config> {
|
||||
private:
|
||||
std::string key1_, key2_; /** The keys of the two poses, order matters */
|
||||
Pose3 measured_;
|
||||
Matrix square_root_inverse_covariance_; /** sqrt(inv(measurement_covariance)) */
|
||||
|
||||
public:
|
||||
public:
|
||||
|
||||
typedef boost::shared_ptr<Pose3Factor> shared_ptr; // shorthand for a smart pointer to a factor
|
||||
|
||||
Pose3Factor(const std::string& key1, const std::string& key2,
|
||||
const Pose3& measured, const Matrix& measurement_covariance): key1_(key1),key2_(key2),measured_(measured) {
|
||||
square_root_inverse_covariance_ = inverse_square_root(measurement_covariance);
|
||||
const Pose3& measured, const Matrix& measurement_covariance) :
|
||||
key1_(key1), key2_(key2), measured_(measured) {
|
||||
square_root_inverse_covariance_ = inverse_square_root(
|
||||
measurement_covariance);
|
||||
}
|
||||
|
||||
/** implement functions needed for Testable */
|
||||
void print(const std::string& name) const {
|
||||
std::cout << name << std::endl;
|
||||
std::cout << "Factor "<< std::endl;
|
||||
std::cout << "key1 "<< key1_<<std::endl;
|
||||
std::cout << "key2 "<< key2_<<std::endl;
|
||||
std::cout << "Factor " << std::endl;
|
||||
std::cout << "key1 " << key1_ << std::endl;
|
||||
std::cout << "key2 " << key2_ << std::endl;
|
||||
measured_.print("measured ");
|
||||
gtsam::print(square_root_inverse_covariance_,"MeasurementCovariance");
|
||||
gtsam::print(square_root_inverse_covariance_, "MeasurementCovariance");
|
||||
}
|
||||
bool equals(const NonlinearFactor<Config>& expected, double tol) const {
|
||||
return false;
|
||||
}
|
||||
bool equals(const NonlinearFactor<Config>& expected, double tol) const {return false;}
|
||||
|
||||
/** implement functions needed to derive from Factor */
|
||||
Vector error_vector(const Config& config) const {
|
||||
//z-h
|
||||
Pose3 p1 = config.get(key1_), p2 = config.get(key2_);
|
||||
return (measured_ - between(p1,p2)).vector();
|
||||
return (measured_ - between(p1, p2)).vector();
|
||||
}
|
||||
|
||||
std::list<std::string> keys() const { std::list<std::string> l; return l; }
|
||||
std::size_t size() const { return 2;}
|
||||
std::list<std::string> keys() const {
|
||||
std::list<std::string> l;
|
||||
return l;
|
||||
}
|
||||
std::size_t size() const {
|
||||
return 2;
|
||||
}
|
||||
|
||||
/** linearize */
|
||||
boost::shared_ptr<GaussianFactor> linearize(const Config& config) const {
|
||||
Pose3 p1 = config.get(key1_), p2 = config.get(key2_);
|
||||
Vector b = (measured_ - between(p1,p2)).vector();
|
||||
Matrix H1 = Dbetween1(p1,p2);
|
||||
Matrix H2 = Dbetween2(p1,p2);
|
||||
boost::shared_ptr<GaussianFactor> linearized(new GaussianFactor(
|
||||
key1_, square_root_inverse_covariance_ * H1,
|
||||
key2_, square_root_inverse_covariance_ * H2,
|
||||
b, 1.0));
|
||||
Vector b = (measured_ - between(p1, p2)).vector();
|
||||
Matrix H1 = Dbetween1(p1, p2);
|
||||
Matrix H2 = Dbetween2(p1, p2);
|
||||
boost::shared_ptr<GaussianFactor> linearized(new GaussianFactor(key1_,
|
||||
square_root_inverse_covariance_ * H1, key2_,
|
||||
square_root_inverse_covariance_ * H2, b, 1.0));
|
||||
return linearized;
|
||||
}
|
||||
};
|
||||
};
|
||||
|
||||
} /// namespace gtsam
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,130 @@
|
|||
#! /bin/sh
|
||||
|
||||
# testPose3Factor - temporary wrapper script for .libs/testPose3Factor
|
||||
# Generated by ltmain.sh (GNU libtool) 2.2.6
|
||||
#
|
||||
# The testPose3Factor program cannot be directly executed until all the libtool
|
||||
# libraries that it depends on are installed.
|
||||
#
|
||||
# This wrapper script should never be moved out of the build directory.
|
||||
# If it is, it will not operate correctly.
|
||||
|
||||
# Sed substitution that helps us do robust quoting. It backslashifies
|
||||
# metacharacters that are still active within double-quoted strings.
|
||||
Xsed='/usr/bin/sed -e 1s/^X//'
|
||||
sed_quote_subst='s/\([`"$\\]\)/\\\1/g'
|
||||
|
||||
# Be Bourne compatible
|
||||
if test -n "${ZSH_VERSION+set}" && (emulate sh) >/dev/null 2>&1; then
|
||||
emulate sh
|
||||
NULLCMD=:
|
||||
# Zsh 3.x and 4.x performs word splitting on ${1+"$@"}, which
|
||||
# is contrary to our usage. Disable this feature.
|
||||
alias -g '${1+"$@"}'='"$@"'
|
||||
setopt NO_GLOB_SUBST
|
||||
else
|
||||
case `(set -o) 2>/dev/null` in *posix*) set -o posix;; esac
|
||||
fi
|
||||
BIN_SH=xpg4; export BIN_SH # for Tru64
|
||||
DUALCASE=1; export DUALCASE # for MKS sh
|
||||
|
||||
# The HP-UX ksh and POSIX shell print the target directory to stdout
|
||||
# if CDPATH is set.
|
||||
(unset CDPATH) >/dev/null 2>&1 && unset CDPATH
|
||||
|
||||
relink_command=""
|
||||
|
||||
# This environment variable determines our operation mode.
|
||||
if test "$libtool_install_magic" = "%%%MAGIC variable%%%"; then
|
||||
# install mode needs the following variables:
|
||||
generated_by_libtool_version='2.2.6'
|
||||
notinst_deplibs=' libgtsam.la'
|
||||
else
|
||||
# When we are sourced in execute mode, $file and $ECHO are already set.
|
||||
if test "$libtool_execute_magic" != "%%%MAGIC variable%%%"; then
|
||||
ECHO="/bin/echo"
|
||||
file="$0"
|
||||
# Make sure echo works.
|
||||
if test "X$1" = X--no-reexec; then
|
||||
# Discard the --no-reexec flag, and continue.
|
||||
shift
|
||||
elif test "X`{ $ECHO '\t'; } 2>/dev/null`" = 'X\t'; then
|
||||
# Yippee, $ECHO works!
|
||||
:
|
||||
else
|
||||
# Restart under the correct shell, and then maybe $ECHO will work.
|
||||
exec /bin/sh "$0" --no-reexec ${1+"$@"}
|
||||
fi
|
||||
fi
|
||||
|
||||
# Find the directory that this script lives in.
|
||||
thisdir=`$ECHO "X$file" | $Xsed -e 's%/[^/]*$%%'`
|
||||
test "x$thisdir" = "x$file" && thisdir=.
|
||||
|
||||
# Follow symbolic links until we get to the real thisdir.
|
||||
file=`ls -ld "$file" | /usr/bin/sed -n 's/.*-> //p'`
|
||||
while test -n "$file"; do
|
||||
destdir=`$ECHO "X$file" | $Xsed -e 's%/[^/]*$%%'`
|
||||
|
||||
# If there was a directory component, then change thisdir.
|
||||
if test "x$destdir" != "x$file"; then
|
||||
case "$destdir" in
|
||||
[\\/]* | [A-Za-z]:[\\/]*) thisdir="$destdir" ;;
|
||||
*) thisdir="$thisdir/$destdir" ;;
|
||||
esac
|
||||
fi
|
||||
|
||||
file=`$ECHO "X$file" | $Xsed -e 's%^.*/%%'`
|
||||
file=`ls -ld "$thisdir/$file" | /usr/bin/sed -n 's/.*-> //p'`
|
||||
done
|
||||
|
||||
|
||||
# Usually 'no', except on cygwin/mingw when embedded into
|
||||
# the cwrapper.
|
||||
WRAPPER_SCRIPT_BELONGS_IN_OBJDIR=no
|
||||
if test "$WRAPPER_SCRIPT_BELONGS_IN_OBJDIR" = "yes"; then
|
||||
# special case for '.'
|
||||
if test "$thisdir" = "."; then
|
||||
thisdir=`pwd`
|
||||
fi
|
||||
# remove .libs from thisdir
|
||||
case "$thisdir" in
|
||||
*[\\/].libs ) thisdir=`$ECHO "X$thisdir" | $Xsed -e 's%[\\/][^\\/]*$%%'` ;;
|
||||
.libs ) thisdir=. ;;
|
||||
esac
|
||||
fi
|
||||
|
||||
# Try to get the absolute directory name.
|
||||
absdir=`cd "$thisdir" && pwd`
|
||||
test -n "$absdir" && thisdir="$absdir"
|
||||
|
||||
program='testPose3Factor'
|
||||
progdir="$thisdir/.libs"
|
||||
|
||||
|
||||
if test -f "$progdir/$program"; then
|
||||
# Add our own library path to DYLD_LIBRARY_PATH
|
||||
DYLD_LIBRARY_PATH="/Users/dellaert/borg/gtsam/cpp/.libs:$DYLD_LIBRARY_PATH"
|
||||
|
||||
# Some systems cannot cope with colon-terminated DYLD_LIBRARY_PATH
|
||||
# The second colon is a workaround for a bug in BeOS R4 sed
|
||||
DYLD_LIBRARY_PATH=`$ECHO "X$DYLD_LIBRARY_PATH" | $Xsed -e 's/::*$//'`
|
||||
|
||||
export DYLD_LIBRARY_PATH
|
||||
|
||||
if test "$libtool_execute_magic" != "%%%MAGIC variable%%%"; then
|
||||
# Run the actual program with our arguments.
|
||||
|
||||
exec "$progdir/$program" ${1+"$@"}
|
||||
|
||||
$ECHO "$0: cannot exec $program $*" 1>&2
|
||||
exit 1
|
||||
fi
|
||||
else
|
||||
# The program doesn't exist.
|
||||
$ECHO "$0: error: \`$progdir/$program' does not exist" 1>&2
|
||||
$ECHO "This script is just a wrapper for $program." 1>&2
|
||||
/bin/echo "See the libtool documentation for more information." 1>&2
|
||||
exit 1
|
||||
fi
|
||||
fi
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
/**
|
||||
* @file testPose3Pose.cpp
|
||||
* @brief Unit tests for Pose3Factor Class
|
||||
* @authors Frank Dellaert
|
||||
**/
|
||||
|
||||
#include <iostream>
|
||||
#include <CppUnitLite/TestHarness.h>
|
||||
#include "Pose3Factor.h"
|
||||
|
||||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
||||
TEST( Pose3Factor, constructor )
|
||||
{
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() {
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -0,0 +1,130 @@
|
|||
#! /bin/sh
|
||||
|
||||
# testUrbanConfig - temporary wrapper script for .libs/testUrbanConfig
|
||||
# Generated by ltmain.sh (GNU libtool) 2.2.6
|
||||
#
|
||||
# The testUrbanConfig program cannot be directly executed until all the libtool
|
||||
# libraries that it depends on are installed.
|
||||
#
|
||||
# This wrapper script should never be moved out of the build directory.
|
||||
# If it is, it will not operate correctly.
|
||||
|
||||
# Sed substitution that helps us do robust quoting. It backslashifies
|
||||
# metacharacters that are still active within double-quoted strings.
|
||||
Xsed='/usr/bin/sed -e 1s/^X//'
|
||||
sed_quote_subst='s/\([`"$\\]\)/\\\1/g'
|
||||
|
||||
# Be Bourne compatible
|
||||
if test -n "${ZSH_VERSION+set}" && (emulate sh) >/dev/null 2>&1; then
|
||||
emulate sh
|
||||
NULLCMD=:
|
||||
# Zsh 3.x and 4.x performs word splitting on ${1+"$@"}, which
|
||||
# is contrary to our usage. Disable this feature.
|
||||
alias -g '${1+"$@"}'='"$@"'
|
||||
setopt NO_GLOB_SUBST
|
||||
else
|
||||
case `(set -o) 2>/dev/null` in *posix*) set -o posix;; esac
|
||||
fi
|
||||
BIN_SH=xpg4; export BIN_SH # for Tru64
|
||||
DUALCASE=1; export DUALCASE # for MKS sh
|
||||
|
||||
# The HP-UX ksh and POSIX shell print the target directory to stdout
|
||||
# if CDPATH is set.
|
||||
(unset CDPATH) >/dev/null 2>&1 && unset CDPATH
|
||||
|
||||
relink_command=""
|
||||
|
||||
# This environment variable determines our operation mode.
|
||||
if test "$libtool_install_magic" = "%%%MAGIC variable%%%"; then
|
||||
# install mode needs the following variables:
|
||||
generated_by_libtool_version='2.2.6'
|
||||
notinst_deplibs=' libgtsam.la'
|
||||
else
|
||||
# When we are sourced in execute mode, $file and $ECHO are already set.
|
||||
if test "$libtool_execute_magic" != "%%%MAGIC variable%%%"; then
|
||||
ECHO="/bin/echo"
|
||||
file="$0"
|
||||
# Make sure echo works.
|
||||
if test "X$1" = X--no-reexec; then
|
||||
# Discard the --no-reexec flag, and continue.
|
||||
shift
|
||||
elif test "X`{ $ECHO '\t'; } 2>/dev/null`" = 'X\t'; then
|
||||
# Yippee, $ECHO works!
|
||||
:
|
||||
else
|
||||
# Restart under the correct shell, and then maybe $ECHO will work.
|
||||
exec /bin/sh "$0" --no-reexec ${1+"$@"}
|
||||
fi
|
||||
fi
|
||||
|
||||
# Find the directory that this script lives in.
|
||||
thisdir=`$ECHO "X$file" | $Xsed -e 's%/[^/]*$%%'`
|
||||
test "x$thisdir" = "x$file" && thisdir=.
|
||||
|
||||
# Follow symbolic links until we get to the real thisdir.
|
||||
file=`ls -ld "$file" | /usr/bin/sed -n 's/.*-> //p'`
|
||||
while test -n "$file"; do
|
||||
destdir=`$ECHO "X$file" | $Xsed -e 's%/[^/]*$%%'`
|
||||
|
||||
# If there was a directory component, then change thisdir.
|
||||
if test "x$destdir" != "x$file"; then
|
||||
case "$destdir" in
|
||||
[\\/]* | [A-Za-z]:[\\/]*) thisdir="$destdir" ;;
|
||||
*) thisdir="$thisdir/$destdir" ;;
|
||||
esac
|
||||
fi
|
||||
|
||||
file=`$ECHO "X$file" | $Xsed -e 's%^.*/%%'`
|
||||
file=`ls -ld "$thisdir/$file" | /usr/bin/sed -n 's/.*-> //p'`
|
||||
done
|
||||
|
||||
|
||||
# Usually 'no', except on cygwin/mingw when embedded into
|
||||
# the cwrapper.
|
||||
WRAPPER_SCRIPT_BELONGS_IN_OBJDIR=no
|
||||
if test "$WRAPPER_SCRIPT_BELONGS_IN_OBJDIR" = "yes"; then
|
||||
# special case for '.'
|
||||
if test "$thisdir" = "."; then
|
||||
thisdir=`pwd`
|
||||
fi
|
||||
# remove .libs from thisdir
|
||||
case "$thisdir" in
|
||||
*[\\/].libs ) thisdir=`$ECHO "X$thisdir" | $Xsed -e 's%[\\/][^\\/]*$%%'` ;;
|
||||
.libs ) thisdir=. ;;
|
||||
esac
|
||||
fi
|
||||
|
||||
# Try to get the absolute directory name.
|
||||
absdir=`cd "$thisdir" && pwd`
|
||||
test -n "$absdir" && thisdir="$absdir"
|
||||
|
||||
program='testUrbanConfig'
|
||||
progdir="$thisdir/.libs"
|
||||
|
||||
|
||||
if test -f "$progdir/$program"; then
|
||||
# Add our own library path to DYLD_LIBRARY_PATH
|
||||
DYLD_LIBRARY_PATH="/Users/dellaert/borg/gtsam/cpp/.libs:$DYLD_LIBRARY_PATH"
|
||||
|
||||
# Some systems cannot cope with colon-terminated DYLD_LIBRARY_PATH
|
||||
# The second colon is a workaround for a bug in BeOS R4 sed
|
||||
DYLD_LIBRARY_PATH=`$ECHO "X$DYLD_LIBRARY_PATH" | $Xsed -e 's/::*$//'`
|
||||
|
||||
export DYLD_LIBRARY_PATH
|
||||
|
||||
if test "$libtool_execute_magic" != "%%%MAGIC variable%%%"; then
|
||||
# Run the actual program with our arguments.
|
||||
|
||||
exec "$progdir/$program" ${1+"$@"}
|
||||
|
||||
$ECHO "$0: cannot exec $program $*" 1>&2
|
||||
exit 1
|
||||
fi
|
||||
else
|
||||
# The program doesn't exist.
|
||||
$ECHO "$0: error: \`$progdir/$program' does not exist" 1>&2
|
||||
$ECHO "This script is just a wrapper for $program." 1>&2
|
||||
/bin/echo "See the libtool documentation for more information." 1>&2
|
||||
exit 1
|
||||
fi
|
||||
fi
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
/*
|
||||
* @file testUrbanConfig.cpp
|
||||
* @brief Tests for the CitySLAM configuration class
|
||||
* @author Frank Dellaert
|
||||
*/
|
||||
|
||||
#include <CppUnitLite/TestHarness.h>
|
||||
#include <UrbanConfig.h>
|
||||
|
||||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( UrbanConfig, update_with_large_delta)
|
||||
{
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() {
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
#! /bin/sh
|
||||
|
||||
# testUrbanGraph - temporary wrapper script for .libs/testUrbanGraph
|
||||
# Generated by ltmain.sh - GNU libtool 1.5.22 (1.1220.2.365 2005/12/18 22:14:06)
|
||||
# Generated by ltmain.sh (GNU libtool) 2.2.6
|
||||
#
|
||||
# The testUrbanGraph program cannot be directly executed until all the libtool
|
||||
# libraries that it depends on are installed.
|
||||
|
|
@ -12,7 +12,21 @@
|
|||
# Sed substitution that helps us do robust quoting. It backslashifies
|
||||
# metacharacters that are still active within double-quoted strings.
|
||||
Xsed='/usr/bin/sed -e 1s/^X//'
|
||||
sed_quote_subst='s/\([\\`\\"$\\\\]\)/\\\1/g'
|
||||
sed_quote_subst='s/\([`"$\\]\)/\\\1/g'
|
||||
|
||||
# Be Bourne compatible
|
||||
if test -n "${ZSH_VERSION+set}" && (emulate sh) >/dev/null 2>&1; then
|
||||
emulate sh
|
||||
NULLCMD=:
|
||||
# Zsh 3.x and 4.x performs word splitting on ${1+"$@"}, which
|
||||
# is contrary to our usage. Disable this feature.
|
||||
alias -g '${1+"$@"}'='"$@"'
|
||||
setopt NO_GLOB_SUBST
|
||||
else
|
||||
case `(set -o) 2>/dev/null` in *posix*) set -o posix;; esac
|
||||
fi
|
||||
BIN_SH=xpg4; export BIN_SH # for Tru64
|
||||
DUALCASE=1; export DUALCASE # for MKS sh
|
||||
|
||||
# The HP-UX ksh and POSIX shell print the target directory to stdout
|
||||
# if CDPATH is set.
|
||||
|
|
@ -22,34 +36,35 @@ relink_command=""
|
|||
|
||||
# This environment variable determines our operation mode.
|
||||
if test "$libtool_install_magic" = "%%%MAGIC variable%%%"; then
|
||||
# install mode needs the following variable:
|
||||
# install mode needs the following variables:
|
||||
generated_by_libtool_version='2.2.6'
|
||||
notinst_deplibs=' libgtsam.la'
|
||||
else
|
||||
# When we are sourced in execute mode, $file and $echo are already set.
|
||||
# When we are sourced in execute mode, $file and $ECHO are already set.
|
||||
if test "$libtool_execute_magic" != "%%%MAGIC variable%%%"; then
|
||||
echo="/bin/echo"
|
||||
ECHO="/bin/echo"
|
||||
file="$0"
|
||||
# Make sure echo works.
|
||||
if test "X$1" = X--no-reexec; then
|
||||
# Discard the --no-reexec flag, and continue.
|
||||
shift
|
||||
elif test "X`($echo '\t') 2>/dev/null`" = 'X\t'; then
|
||||
# Yippee, $echo works!
|
||||
elif test "X`{ $ECHO '\t'; } 2>/dev/null`" = 'X\t'; then
|
||||
# Yippee, $ECHO works!
|
||||
:
|
||||
else
|
||||
# Restart under the correct shell, and then maybe $echo will work.
|
||||
# Restart under the correct shell, and then maybe $ECHO will work.
|
||||
exec /bin/sh "$0" --no-reexec ${1+"$@"}
|
||||
fi
|
||||
fi
|
||||
|
||||
# Find the directory that this script lives in.
|
||||
thisdir=`$echo "X$file" | $Xsed -e 's%/[^/]*$%%'`
|
||||
thisdir=`$ECHO "X$file" | $Xsed -e 's%/[^/]*$%%'`
|
||||
test "x$thisdir" = "x$file" && thisdir=.
|
||||
|
||||
# Follow symbolic links until we get to the real thisdir.
|
||||
file=`ls -ld "$file" | /usr/bin/sed -n 's/.*-> //p'`
|
||||
while test -n "$file"; do
|
||||
destdir=`$echo "X$file" | $Xsed -e 's%/[^/]*$%%'`
|
||||
destdir=`$ECHO "X$file" | $Xsed -e 's%/[^/]*$%%'`
|
||||
|
||||
# If there was a directory component, then change thisdir.
|
||||
if test "x$destdir" != "x$file"; then
|
||||
|
|
@ -59,10 +74,26 @@ else
|
|||
esac
|
||||
fi
|
||||
|
||||
file=`$echo "X$file" | $Xsed -e 's%^.*/%%'`
|
||||
file=`$ECHO "X$file" | $Xsed -e 's%^.*/%%'`
|
||||
file=`ls -ld "$thisdir/$file" | /usr/bin/sed -n 's/.*-> //p'`
|
||||
done
|
||||
|
||||
|
||||
# Usually 'no', except on cygwin/mingw when embedded into
|
||||
# the cwrapper.
|
||||
WRAPPER_SCRIPT_BELONGS_IN_OBJDIR=no
|
||||
if test "$WRAPPER_SCRIPT_BELONGS_IN_OBJDIR" = "yes"; then
|
||||
# special case for '.'
|
||||
if test "$thisdir" = "."; then
|
||||
thisdir=`pwd`
|
||||
fi
|
||||
# remove .libs from thisdir
|
||||
case "$thisdir" in
|
||||
*[\\/].libs ) thisdir=`$ECHO "X$thisdir" | $Xsed -e 's%[\\/][^\\/]*$%%'` ;;
|
||||
.libs ) thisdir=. ;;
|
||||
esac
|
||||
fi
|
||||
|
||||
# Try to get the absolute directory name.
|
||||
absdir=`cd "$thisdir" && pwd`
|
||||
test -n "$absdir" && thisdir="$absdir"
|
||||
|
|
@ -73,11 +104,11 @@ else
|
|||
|
||||
if test -f "$progdir/$program"; then
|
||||
# Add our own library path to DYLD_LIBRARY_PATH
|
||||
DYLD_LIBRARY_PATH="/Users/vila/borg/gtsam/cpp/.libs:$DYLD_LIBRARY_PATH"
|
||||
DYLD_LIBRARY_PATH="/Users/dellaert/borg/gtsam/cpp/.libs:$DYLD_LIBRARY_PATH"
|
||||
|
||||
# Some systems cannot cope with colon-terminated DYLD_LIBRARY_PATH
|
||||
# The second colon is a workaround for a bug in BeOS R4 sed
|
||||
DYLD_LIBRARY_PATH=`$echo "X$DYLD_LIBRARY_PATH" | $Xsed -e 's/::*$//'`
|
||||
DYLD_LIBRARY_PATH=`$ECHO "X$DYLD_LIBRARY_PATH" | $Xsed -e 's/::*$//'`
|
||||
|
||||
export DYLD_LIBRARY_PATH
|
||||
|
||||
|
|
@ -86,13 +117,13 @@ else
|
|||
|
||||
exec "$progdir/$program" ${1+"$@"}
|
||||
|
||||
$echo "$0: cannot exec $program ${1+"$@"}"
|
||||
$ECHO "$0: cannot exec $program $*" 1>&2
|
||||
exit 1
|
||||
fi
|
||||
else
|
||||
# The program doesn't exist.
|
||||
$echo "$0: error: \`$progdir/$program' does not exist" 1>&2
|
||||
$echo "This script is just a wrapper for $program." 1>&2
|
||||
$ECHO "$0: error: \`$progdir/$program' does not exist" 1>&2
|
||||
$ECHO "This script is just a wrapper for $program." 1>&2
|
||||
/bin/echo "See the libtool documentation for more information." 1>&2
|
||||
exit 1
|
||||
fi
|
||||
|
|
|
|||
|
|
@ -0,0 +1,130 @@
|
|||
#! /bin/sh
|
||||
|
||||
# testUrbanMeasurement - temporary wrapper script for .libs/testUrbanMeasurement
|
||||
# Generated by ltmain.sh (GNU libtool) 2.2.6
|
||||
#
|
||||
# The testUrbanMeasurement program cannot be directly executed until all the libtool
|
||||
# libraries that it depends on are installed.
|
||||
#
|
||||
# This wrapper script should never be moved out of the build directory.
|
||||
# If it is, it will not operate correctly.
|
||||
|
||||
# Sed substitution that helps us do robust quoting. It backslashifies
|
||||
# metacharacters that are still active within double-quoted strings.
|
||||
Xsed='/usr/bin/sed -e 1s/^X//'
|
||||
sed_quote_subst='s/\([`"$\\]\)/\\\1/g'
|
||||
|
||||
# Be Bourne compatible
|
||||
if test -n "${ZSH_VERSION+set}" && (emulate sh) >/dev/null 2>&1; then
|
||||
emulate sh
|
||||
NULLCMD=:
|
||||
# Zsh 3.x and 4.x performs word splitting on ${1+"$@"}, which
|
||||
# is contrary to our usage. Disable this feature.
|
||||
alias -g '${1+"$@"}'='"$@"'
|
||||
setopt NO_GLOB_SUBST
|
||||
else
|
||||
case `(set -o) 2>/dev/null` in *posix*) set -o posix;; esac
|
||||
fi
|
||||
BIN_SH=xpg4; export BIN_SH # for Tru64
|
||||
DUALCASE=1; export DUALCASE # for MKS sh
|
||||
|
||||
# The HP-UX ksh and POSIX shell print the target directory to stdout
|
||||
# if CDPATH is set.
|
||||
(unset CDPATH) >/dev/null 2>&1 && unset CDPATH
|
||||
|
||||
relink_command=""
|
||||
|
||||
# This environment variable determines our operation mode.
|
||||
if test "$libtool_install_magic" = "%%%MAGIC variable%%%"; then
|
||||
# install mode needs the following variables:
|
||||
generated_by_libtool_version='2.2.6'
|
||||
notinst_deplibs=' libgtsam.la'
|
||||
else
|
||||
# When we are sourced in execute mode, $file and $ECHO are already set.
|
||||
if test "$libtool_execute_magic" != "%%%MAGIC variable%%%"; then
|
||||
ECHO="/bin/echo"
|
||||
file="$0"
|
||||
# Make sure echo works.
|
||||
if test "X$1" = X--no-reexec; then
|
||||
# Discard the --no-reexec flag, and continue.
|
||||
shift
|
||||
elif test "X`{ $ECHO '\t'; } 2>/dev/null`" = 'X\t'; then
|
||||
# Yippee, $ECHO works!
|
||||
:
|
||||
else
|
||||
# Restart under the correct shell, and then maybe $ECHO will work.
|
||||
exec /bin/sh "$0" --no-reexec ${1+"$@"}
|
||||
fi
|
||||
fi
|
||||
|
||||
# Find the directory that this script lives in.
|
||||
thisdir=`$ECHO "X$file" | $Xsed -e 's%/[^/]*$%%'`
|
||||
test "x$thisdir" = "x$file" && thisdir=.
|
||||
|
||||
# Follow symbolic links until we get to the real thisdir.
|
||||
file=`ls -ld "$file" | /usr/bin/sed -n 's/.*-> //p'`
|
||||
while test -n "$file"; do
|
||||
destdir=`$ECHO "X$file" | $Xsed -e 's%/[^/]*$%%'`
|
||||
|
||||
# If there was a directory component, then change thisdir.
|
||||
if test "x$destdir" != "x$file"; then
|
||||
case "$destdir" in
|
||||
[\\/]* | [A-Za-z]:[\\/]*) thisdir="$destdir" ;;
|
||||
*) thisdir="$thisdir/$destdir" ;;
|
||||
esac
|
||||
fi
|
||||
|
||||
file=`$ECHO "X$file" | $Xsed -e 's%^.*/%%'`
|
||||
file=`ls -ld "$thisdir/$file" | /usr/bin/sed -n 's/.*-> //p'`
|
||||
done
|
||||
|
||||
|
||||
# Usually 'no', except on cygwin/mingw when embedded into
|
||||
# the cwrapper.
|
||||
WRAPPER_SCRIPT_BELONGS_IN_OBJDIR=no
|
||||
if test "$WRAPPER_SCRIPT_BELONGS_IN_OBJDIR" = "yes"; then
|
||||
# special case for '.'
|
||||
if test "$thisdir" = "."; then
|
||||
thisdir=`pwd`
|
||||
fi
|
||||
# remove .libs from thisdir
|
||||
case "$thisdir" in
|
||||
*[\\/].libs ) thisdir=`$ECHO "X$thisdir" | $Xsed -e 's%[\\/][^\\/]*$%%'` ;;
|
||||
.libs ) thisdir=. ;;
|
||||
esac
|
||||
fi
|
||||
|
||||
# Try to get the absolute directory name.
|
||||
absdir=`cd "$thisdir" && pwd`
|
||||
test -n "$absdir" && thisdir="$absdir"
|
||||
|
||||
program='testUrbanMeasurement'
|
||||
progdir="$thisdir/.libs"
|
||||
|
||||
|
||||
if test -f "$progdir/$program"; then
|
||||
# Add our own library path to DYLD_LIBRARY_PATH
|
||||
DYLD_LIBRARY_PATH="/Users/dellaert/borg/gtsam/cpp/.libs:$DYLD_LIBRARY_PATH"
|
||||
|
||||
# Some systems cannot cope with colon-terminated DYLD_LIBRARY_PATH
|
||||
# The second colon is a workaround for a bug in BeOS R4 sed
|
||||
DYLD_LIBRARY_PATH=`$ECHO "X$DYLD_LIBRARY_PATH" | $Xsed -e 's/::*$//'`
|
||||
|
||||
export DYLD_LIBRARY_PATH
|
||||
|
||||
if test "$libtool_execute_magic" != "%%%MAGIC variable%%%"; then
|
||||
# Run the actual program with our arguments.
|
||||
|
||||
exec "$progdir/$program" ${1+"$@"}
|
||||
|
||||
$ECHO "$0: cannot exec $program $*" 1>&2
|
||||
exit 1
|
||||
fi
|
||||
else
|
||||
# The program doesn't exist.
|
||||
$ECHO "$0: error: \`$progdir/$program' does not exist" 1>&2
|
||||
$ECHO "This script is just a wrapper for $program." 1>&2
|
||||
/bin/echo "See the libtool documentation for more information." 1>&2
|
||||
exit 1
|
||||
fi
|
||||
fi
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
/**********************************************************
|
||||
Written by Frank Dellaert, Dec 2009
|
||||
**********************************************************/
|
||||
|
||||
#include <CppUnitLite/TestHarness.h>
|
||||
|
||||
#include "UrbanConfig.h"
|
||||
#include "UrbanMeasurement.h"
|
||||
|
||||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( UrbanMeasurement, linearize )
|
||||
{
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() {
|
||||
TestResult tr;
|
||||
TestRegistry::runAllTests(tr);
|
||||
return 0;
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
|
||||
Loading…
Reference in New Issue