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remove all LieMatrix(sizt_t m, ...), which also has dangerous behavior

release/4.3a0
jing 2014-01-23 18:46:01 -05:00
parent 96296333ae
commit 8c4aa2b9a6
4 changed files with 5 additions and 25 deletions
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14
gtsam/base/LieMatrix.cpp
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@ -19,20 +19,6 @@
namespace gtsam { namespace gtsam {
/* ************************************************************************* */
LieMatrix::LieMatrix(size_t m, size_t n, ...)
: Matrix(m,n) {
va_list ap;
va_start(ap, n);
for(size_t i = 0; i < m; ++i) {
for(size_t j = 0; j < n; ++j) {
double value = va_arg(ap, double);
(*this)(i,j) = value;
}
}
va_end(ap);
}
/* ************************************************************************* */ /* ************************************************************************* */
void LieMatrix::print(const std::string& name) const { void LieMatrix::print(const std::string& name) const {
gtsam::print(matrix(), name); gtsam::print(matrix(), name);

3
gtsam/base/LieMatrix.h
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@ -48,9 +48,6 @@ struct LieMatrix : public Matrix, public DerivedValue<LieMatrix> {
LieMatrix(size_t m, size_t n, const double* const data) : LieMatrix(size_t m, size_t n, const double* const data) :
Matrix(Eigen::Map<const Matrix>(data, m, n)) {} Matrix(Eigen::Map<const Matrix>(data, m, n)) {}
/** Specify arguments directly, as in Matrix_() - always force these to be doubles */
GTSAM_EXPORT LieMatrix(size_t m, size_t n, ...);
/// @} /// @}
/// @name Testable interface /// @name Testable interface
/// @{ /// @{

9
gtsam/base/tests/testLieMatrix.cpp
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@ -39,20 +39,17 @@ TEST( LieMatrix, construction ) {
TEST( LieMatrix, other_constructors ) { TEST( LieMatrix, other_constructors ) {
Matrix init = (Matrix(2,2) << 10.0,20.0, 30.0,40.0); Matrix init = (Matrix(2,2) << 10.0,20.0, 30.0,40.0);
LieMatrix exp(init); LieMatrix exp(init);
LieMatrix a(2,2,10.0,20.0,30.0,40.0);
double data[] = {10,30,20,40}; double data[] = {10,30,20,40};
LieMatrix b(2,2,data); LieMatrix b(2,2,data);
EXPECT(assert_equal(exp, a));
EXPECT(assert_equal(exp, b)); EXPECT(assert_equal(exp, b));
EXPECT(assert_equal(b, a));
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(LieMatrix, retract) { TEST(LieMatrix, retract) {
LieMatrix init(2,2, 1.0,2.0,3.0,4.0); LieMatrix init((Matrix(2,2) << 1.0,2.0,3.0,4.0));
Vector update = (Vector(4) << 3.0, 4.0, 6.0, 7.0); Vector update = (Vector(4) << 3.0, 4.0, 6.0, 7.0);
LieMatrix expected(2,2, 4.0, 6.0, 9.0, 11.0); LieMatrix expected((Matrix(2,2) << 4.0, 6.0, 9.0, 11.0));
LieMatrix actual = init.retract(update); LieMatrix actual = init.retract(update);
EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(expected, actual));
@ -63,7 +60,7 @@ TEST(LieMatrix, retract) {
EXPECT(assert_equal(expectedUpdate, actualUpdate)); EXPECT(assert_equal(expectedUpdate, actualUpdate));
Vector expectedLogmap = (Vector(4) << 1, 2, 3, 4); Vector expectedLogmap = (Vector(4) << 1, 2, 3, 4);
Vector actualLogmap = LieMatrix::Logmap(LieMatrix(2,2, 1.0, 2.0, 3.0, 4.0)); Vector actualLogmap = LieMatrix::Logmap(LieMatrix((Matrix(2,2) << 1.0, 2.0, 3.0, 4.0)));
EXPECT(assert_equal(expectedLogmap, actualLogmap)); EXPECT(assert_equal(expectedLogmap, actualLogmap));
} }

4
tests/testSerializationSLAM.cpp
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@ -287,8 +287,8 @@ TEST (testSerializationSLAM, smallExample_nonlinear) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST (testSerializationSLAM, factors) { TEST (testSerializationSLAM, factors) {
LieVector lieVector(4, 1.0, 2.0, 3.0, 4.0); LieVector lieVector((Vector(4) << 1.0, 2.0, 3.0, 4.0));
LieMatrix lieMatrix(2, 3, 1.0, 2.0, 3.0, 4.0, 5.0 ,6.0); LieMatrix lieMatrix((Matrix(2, 3) << 1.0, 2.0, 3.0, 4.0, 5.0 ,6.0));
Point2 point2(1.0, 2.0); Point2 point2(1.0, 2.0);
StereoPoint2 stereoPoint2(1.0, 2.0, 3.0); StereoPoint2 stereoPoint2(1.0, 2.0, 3.0);
Point3 point3(1.0, 2.0, 3.0); Point3 point3(1.0, 2.0, 3.0);