From 8aa440a679d7ac5cacf6de418104bfa57c9f3104 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Tue, 9 Feb 2010 01:24:41 +0000
Subject: [PATCH] Fixed the instantiation macros and exmap global functions for
 TupleConfigN

---
 cpp/TupleConfig-inl.h   | 15 +++++----------
 cpp/testTupleConfig.cpp | 31 ++++++++++++++++++++++++++++++-
 2 files changed, 35 insertions(+), 11 deletions(-)

diff --git a/cpp/TupleConfig-inl.h b/cpp/TupleConfig-inl.h
index fa56118e6..0197bb6f0 100644
--- a/cpp/TupleConfig-inl.h
+++ b/cpp/TupleConfig-inl.h
@@ -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 {
diff --git a/cpp/testTupleConfig.cpp b/cpp/testTupleConfig.cpp
index ab789bf9c..a6f9017af 100644
--- a/cpp/testTupleConfig.cpp
+++ b/cpp/testTupleConfig.cpp
@@ -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());
 
 }
 /* ************************************************************************* */