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Fixed the instantiation macros and exmap global functions for TupleConfigN

release/4.3a0
Alex Cunningham 2010-02-09 01:24:41 +00:00
parent 18d7fcc299
commit 8aa440a679
2 changed files with 35 additions and 11 deletions
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15
cpp/TupleConfig-inl.h
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@ -20,24 +20,19 @@
// TupleConfig instantiations for N = 1-6
#define INSTANTIATE_TUPLE_CONFIG2(Config1, Config2) \
template class TupleConfig2<Config1, Config2>; \
template TupleConfig2<Config1, Config2> expmap(const TupleConfig2<Config1, Config2>, const VectorConfig&);
template class TupleConfig2<Config1, Config2>;
#define INSTANTIATE_TUPLE_CONFIG3(Config1, Config2, Config3) \
template class TupleConfig3<Config1, Config2, Config3>; \
template TupleConfig3<Config1, Config2, Config3> expmap(const TupleConfig3<Config1, Config2, Config3>, const VectorConfig&);
template class TupleConfig3<Config1, Config2, Config3>;
#define INSTANTIATE_TUPLE_CONFIG4(Config1, Config2, Config3, Config4) \
template class TupleConfig4<Config1, Config2, Config3, Config4>; \
template TupleConfig4<Config1, Config2, Config3, Config4> expmap(const TupleConfig4<Config1, Config2, Config3, Config4>, const VectorConfig&);
template class TupleConfig4<Config1, Config2, Config3, Config4>;
#define INSTANTIATE_TUPLE_CONFIG5(Config1, Config2, Config3, Config4, Config5) \
template class TupleConfig5<Config1, Config2, Config3, Config4, Config5>; \
template TupleConfig5<Config1, Config2, Config3, Config4, Config5> expmap(const TupleConfig5<Config1, Config2, Config3, Config4, Config5>, const VectorConfig&);
template class TupleConfig5<Config1, Config2, Config3, Config4, Config5>;
#define INSTANTIATE_TUPLE_CONFIG6(Config1, Config2, Config3, Config4, Config5, Config6) \
template class TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6>; \
template TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> expmap(const TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6>, const VectorConfig&);
template class TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6>;
namespace gtsam {

31
cpp/testTupleConfig.cpp
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@ -319,6 +319,36 @@ TEST(TupleConfig, expmap)
CHECK(assert_equal(increment, logmap(cfg1, expected)));
}
/* ************************************************************************* */
TEST(TupleConfig, expmap_typedefs)
{
Pose2 x1(1,2,3), x2(6,7,8);
PoseKey x1k(1), x2k(2);
Point2 l1(4,5), l2(9,10);
PointKey l1k(1), l2k(2);
TupleConfig2<PoseConfig, PointConfig> cfg1, expected, actual;
cfg1.insert(x1k, x1);
cfg1.insert(x2k, x2);
cfg1.insert(l1k, l1);
cfg1.insert(l2k, l2);
VectorConfig increment;
increment.insert("x1", Vector_(3, 1.0, 1.1, 1.2));
increment.insert("x2", Vector_(3, 1.3, 1.4, 1.5));
increment.insert("l1", Vector_(2, 1.0, 1.1));
increment.insert("l2", Vector_(2, 1.3, 1.4));
expected.insert(x1k, expmap(x1, Vector_(3, 1.0, 1.1, 1.2)));
expected.insert(x2k, expmap(x2, Vector_(3, 1.3, 1.4, 1.5)));
expected.insert(l1k, Point2(5.0, 6.1));
expected.insert(l2k, Point2(10.3, 11.4));
actual = expmap(cfg1, increment);
CHECK(assert_equal(expected, actual));
//CHECK(assert_equal(increment, logmap(cfg1, expected)));
}
/* ************************************************************************* */
TEST(TupleConfig, typedefs)
{
@ -363,7 +393,6 @@ TEST( TupleConfig, graphs_and_factors )
// test creation
GraphC graph;
ConfigC config;
// FactorC::shared_ptr f1(new FactorC());
}
/* ************************************************************************* */