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

Recursive TupleConfig now has typedefs for 2-6 configs

release/4.3a0
Alex Cunningham 2010-02-04 03:40:03 +00:00
parent 4e70f14097
commit 843f11678b
2 changed files with 56 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

39
cpp/TupleConfig.h
View File

@ -141,7 +141,6 @@ namespace gtsam {
template<class J1, class X1, class J2, class X2>
inline VectorConfig logmap(const PairConfig<J1,X1,J2,X2> c0, const PairConfig<J1,X1,J2,X2>& cp) { return c0.logmap(cp); }
/**
* Tuple configs to handle subconfigs of LieConfigs
*
@ -311,4 +310,42 @@ namespace gtsam {
inline VectorConfig logmap(const TupleConfigEnd<Config> c0, const TupleConfigEnd<Config>& cp) {
return c0.logmap(cp);
}
/**
* Typedefs for existing config types
*/
template<class Config1, class Config2>
struct TupleConfig2 : TupleConfig<Config1, TupleConfigEnd<Config2> > {
TupleConfig2() {}
TupleConfig2(const TupleConfig2<Config1, Config2>& config) :
TupleConfig<Config1, TupleConfigEnd<Config2> >(config) {}
};
template<class Config1, class Config2, class Config3>
struct TupleConfig3 : TupleConfig<Config1, TupleConfig<Config2, TupleConfigEnd<Config3> > > {
TupleConfig3() {}
TupleConfig3(const TupleConfig3<Config1, Config2, Config3>& config) :
TupleConfig<Config1, TupleConfig<Config2, TupleConfigEnd<Config3> > >(config) {}
};
template<class Config1, class Config2, class Config3, class Config4>
struct TupleConfig4 : TupleConfig<Config1, TupleConfig<Config2,TupleConfig<Config3, TupleConfigEnd<Config4> > > > {
TupleConfig4() {}
TupleConfig4(const TupleConfig4<Config1, Config2, Config3, Config4>& config) :
TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfigEnd<Config4> > > >(config) {}
};
template<class Config1, class Config2, class Config3, class Config4, class Config5>
struct TupleConfig5 : TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfigEnd<Config5> > > > > {
TupleConfig5() {}
TupleConfig5(const TupleConfig5<Config1, Config2, Config3, Config4, Config5>& config) :
TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfigEnd<Config5> > > > >(config) {}
};
template<class Config1, class Config2, class Config3, class Config4, class Config5, class Config6>
struct TupleConfig6 : TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfig<Config5, TupleConfigEnd<Config6> > > > > > {
TupleConfig6() {}
TupleConfig6(const TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6>& config) :
TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfig<Config5, TupleConfigEnd<Config6> > > > > >(config) {}
};
}

20
cpp/testTupleConfig.cpp
View File

@ -12,6 +12,8 @@
#include <Pose2.h>
#include <Point2.h>
#include <Pose3.h>
#include <Point3.h>
#include "Vector.h"
#include "Key.h"
@ -169,14 +171,18 @@ TEST(PairConfig, expmap)
/* ************************************************************************* */
// some key types
typedef TypedSymbol<Pose2, 'x'> PoseKey;
typedef TypedSymbol<Point2, 'l'> PointKey;
typedef TypedSymbol<Vector, 'L'> LamKey;
typedef TypedSymbol<Pose3, 'a'> Pose3Key;
typedef TypedSymbol<Point3, 'b'> Point3Key;
typedef TypedSymbol<Point3, 'c'> Point3Key2;
// some config types
typedef LieConfig<PoseKey, Pose2> PoseConfig;
typedef LieConfig<PointKey, Point2> PointConfig;
typedef LieConfig<LamKey, Vector> LamConfig;
typedef LieConfig<Pose3Key, Pose3> Pose3Config;
typedef LieConfig<Point3Key, Point3> Point3Config;
typedef LieConfig<Point3Key2, Point3> Point3Config2;
// some TupleConfig types
typedef TupleConfig<PoseConfig, TupleConfigEnd<PointConfig> > ConfigA;
@ -312,6 +318,16 @@ TEST(TupleConfig, expmap)
CHECK(assert_equal(increment, logmap(cfg1, expected)));
}
/* ************************************************************************* */
TEST(TupleConfig, typedefs)
{
TupleConfig2<PoseConfig, PointConfig> cfg1;
TupleConfig3<PoseConfig, PointConfig, LamConfig> cfg2;
TupleConfig4<PoseConfig, PointConfig, LamConfig, Point3Config> cfg3;
TupleConfig5<PoseConfig, PointConfig, LamConfig, Point3Config, Pose3Config> cfg4;
TupleConfig6<PoseConfig, PointConfig, LamConfig, Point3Config, Pose3Config, Point3Config2> cfg5;
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }