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Correctly revert confusing `->template key<N>()` notations 

revert to using shortcut form: `key1()`, `key2()`
release/4.3a0
Gerry Chen 2023-01-04 23:24:57 -05:00
parent b46fd77c4a
commit 8f2c978a7d
No known key found for this signature in database
GPG Key ID: E9845092D3A57286
18 changed files with 50 additions and 50 deletions
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8
gtsam/inference/graph-inl.h
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@ -200,8 +200,8 @@ boost::shared_ptr<Values> composePoses(const G& graph, const PredecessorMap<KEY>
boost::shared_ptr<Factor> factor = boost::dynamic_pointer_cast<Factor>(nl_factor); boost::shared_ptr<Factor> factor = boost::dynamic_pointer_cast<Factor>(nl_factor);
if (!factor) continue; if (!factor) continue;
KEY key1 = factor->template key<1>(); KEY key1 = factor->key1();
KEY key2 = factor->template key<2>(); KEY key2 = factor->key2();
PoseVertex v1 = key2vertex.find(key1)->second; PoseVertex v1 = key2vertex.find(key1)->second;
PoseVertex v2 = key2vertex.find(key2)->second; PoseVertex v2 = key2vertex.find(key2)->second;
@ -270,8 +270,8 @@ void split(const G& g, const PredecessorMap<KEY>& tree, G& Ab1, G& Ab2) {
FACTOR2>(factor); FACTOR2>(factor);
if (!factor2) continue; if (!factor2) continue;
KEY key1 = factor2->template key<1>(); KEY key1 = factor2->key1();
KEY key2 = factor2->template key<2>(); KEY key2 = factor2->key2();
// if the tree contains the key // if the tree contains the key
if ((tree.find(key1) != tree.end() && if ((tree.find(key1) != tree.end() &&
tree.find(key1)->second.compare(key2) == 0) || tree.find(key1)->second.compare(key2) == 0) ||

6
gtsam/nonlinear/FunctorizedFactor.h
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@ -101,7 +101,7 @@ class FunctorizedFactor : public NoiseModelFactorN<T> {
const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override { const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override {
Base::print(s, keyFormatter); Base::print(s, keyFormatter);
std::cout << s << (s != "" ? " " : "") << "FunctorizedFactor(" std::cout << s << (s != "" ? " " : "") << "FunctorizedFactor("
<< keyFormatter(this->template key<1>()) << ")" << std::endl; << keyFormatter(this->key1()) << ")" << std::endl;
traits<R>::Print(measured_, " measurement: "); traits<R>::Print(measured_, " measurement: ");
std::cout << " noise model sigmas: " << noiseModel_->sigmas().transpose() std::cout << " noise model sigmas: " << noiseModel_->sigmas().transpose()
<< std::endl; << std::endl;
@ -208,8 +208,8 @@ class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2> {
const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override { const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override {
Base::print(s, keyFormatter); Base::print(s, keyFormatter);
std::cout << s << (s != "" ? " " : "") << "FunctorizedFactor2(" std::cout << s << (s != "" ? " " : "") << "FunctorizedFactor2("
<< keyFormatter(this->template key<1>()) << ", " << keyFormatter(this->key1()) << ", "
<< keyFormatter(this->template key<2>()) << ")" << std::endl; << keyFormatter(this->key2()) << ")" << std::endl;
traits<R>::Print(measured_, " measurement: "); traits<R>::Print(measured_, " measurement: ");
std::cout << " noise model sigmas: " << noiseModel_->sigmas().transpose() std::cout << " noise model sigmas: " << noiseModel_->sigmas().transpose()
<< std::endl; << std::endl;

2
gtsam/nonlinear/NonlinearFactor.h
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@ -502,7 +502,7 @@ class NoiseModelFactorN
* *
* Note that, if your class is templated AND you are trying to call `key<1>` * Note that, if your class is templated AND you are trying to call `key<1>`
* inside your class, due to dependent types you need the `template` keyword: * inside your class, due to dependent types you need the `template` keyword:
* `this->template key<1>()`. * `this->key1()`.
*/ */
template <int I = 1> template <int I = 1>
inline Key key() const { inline Key key() const {

4
gtsam/slam/BetweenFactor.h
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@ -88,8 +88,8 @@ namespace gtsam {
const std::string& s = "", const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
std::cout << s << "BetweenFactor(" std::cout << s << "BetweenFactor("
<< keyFormatter(this->template key<1>()) << "," << keyFormatter(this->key1()) << ","
<< keyFormatter(this->template key<2>()) << ")\n"; << keyFormatter(this->key2()) << ")\n";
traits<T>::Print(measured_, " measured: "); traits<T>::Print(measured_, " measured: ");
this->noiseModel_->print(" noise model: "); this->noiseModel_->print(" noise model: ");
} }

2
gtsam/slam/BoundingConstraint.h
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@ -129,7 +129,7 @@ struct BoundingConstraint2: public NoiseModelFactorN<VALUE1, VALUE2> {
/** active when constraint *NOT* met */ /** active when constraint *NOT* met */
bool active(const Values& c) const override { bool active(const Values& c) const override {
// note: still active at equality to avoid zigzagging // note: still active at equality to avoid zigzagging
double x = value(c.at<X1>(this->template key<1>()), c.at<X2>(this->template key<2>())); double x = value(c.at<X1>(this->key1()), c.at<X2>(this->key2()));
return (isGreaterThan_) ? x <= threshold_ : x >= threshold_; return (isGreaterThan_) ? x <= threshold_ : x >= threshold_;
} }

4
gtsam/slam/FrobeniusFactor.h
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@ -130,8 +130,8 @@ class FrobeniusBetweenFactor : public NoiseModelFactorN<Rot, Rot> {
print(const std::string &s, print(const std::string &s,
const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override { const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override {
std::cout << s << "FrobeniusBetweenFactor<" << demangle(typeid(Rot).name()) std::cout << s << "FrobeniusBetweenFactor<" << demangle(typeid(Rot).name())
<< ">(" << keyFormatter(this->template key<1>()) << "," << ">(" << keyFormatter(this->key1()) << ","
<< keyFormatter(this->template key<2>()) << ")\n"; << keyFormatter(this->key2()) << ")\n";
traits<Rot>::Print(R12_, " R12: "); traits<Rot>::Print(R12_, " R12: ");
this->noiseModel_->print(" noise model: "); this->noiseModel_->print(" noise model: ");
} }

6
gtsam/slam/GeneralSFMFactor.h
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@ -140,7 +140,7 @@ public:
// Only linearize if the factor is active // Only linearize if the factor is active
if (!this->active(values)) return boost::shared_ptr<JacobianFactor>(); if (!this->active(values)) return boost::shared_ptr<JacobianFactor>();
const Key key1 = this->template key<1>(), key2 = this->template key<2>(); const Key key1 = this->key1(), key2 = this->key2();
JacobianC H1; JacobianC H1;
JacobianL H2; JacobianL H2;
Vector2 b; Vector2 b;
@ -270,8 +270,8 @@ public:
if (H1) *H1 = Matrix::Zero(2, 6); if (H1) *H1 = Matrix::Zero(2, 6);
if (H2) *H2 = Matrix::Zero(2, 3); if (H2) *H2 = Matrix::Zero(2, 3);
if (H3) *H3 = Matrix::Zero(2, DimK); if (H3) *H3 = Matrix::Zero(2, DimK);
std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2())
<< " behind Camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl; << " behind Camera " << DefaultKeyFormatter(this->key1()) << std::endl;
} }
return Z_2x1; return Z_2x1;
} }

6
gtsam/slam/ProjectionFactor.h
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@ -154,10 +154,10 @@ namespace gtsam {
if (H1) *H1 = Matrix::Zero(2,6); if (H1) *H1 = Matrix::Zero(2,6);
if (H2) *H2 = Matrix::Zero(2,3); if (H2) *H2 = Matrix::Zero(2,3);
if (verboseCheirality_) if (verboseCheirality_)
std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) << std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) <<
" moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl; " moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl;
if (throwCheirality_) if (throwCheirality_)
throw CheiralityException(this->template key<2>()); throw CheiralityException(this->key2());
} }
return Vector2::Constant(2.0 * K_->fx()); return Vector2::Constant(2.0 * K_->fx());
} }

12
gtsam/slam/ReferenceFrameFactor.h
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@ -107,16 +107,16 @@ public:
void print(const std::string& s="", void print(const std::string& s="",
const gtsam::KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { const gtsam::KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
std::cout << s << ": ReferenceFrameFactor(" std::cout << s << ": ReferenceFrameFactor("
<< "Global: " << keyFormatter(this->template key<1>()) << "," << "Global: " << keyFormatter(this->key1()) << ","
<< " Transform: " << keyFormatter(this->template key<2>()) << "," << " Transform: " << keyFormatter(this->key2()) << ","
<< " Local: " << keyFormatter(this->template key<3>()) << ")\n"; << " Local: " << keyFormatter(this->key3()) << ")\n";
this->noiseModel_->print(" noise model"); this->noiseModel_->print(" noise model");
} }
// access - convenience functions // access - convenience functions
Key global_key() const { return this->template key<1>(); } Key global_key() const { return this->key1(); }
Key transform_key() const { return this->template key<2>(); } Key transform_key() const { return this->key2(); }
Key local_key() const { return this->template key<3>(); } Key local_key() const { return this->key3(); }
private: private:
/** Serialization function */ /** Serialization function */

6
gtsam/slam/StereoFactor.h
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@ -141,10 +141,10 @@ public:
if (H1) *H1 = Matrix::Zero(3,6); if (H1) *H1 = Matrix::Zero(3,6);
if (H2) *H2 = Z_3x3; if (H2) *H2 = Z_3x3;
if (verboseCheirality_) if (verboseCheirality_)
std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) << std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) <<
" moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl; " moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl;
if (throwCheirality_) if (throwCheirality_)
throw StereoCheiralityException(this->template key<2>()); throw StereoCheiralityException(this->key2());
} }
return Vector3::Constant(2.0 * K_->fx()); return Vector3::Constant(2.0 * K_->fx());
} }

10
gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
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@ -136,11 +136,11 @@ public:
/** print */ /** print */
void print(const std::string& s = "EquivInertialNavFactor_GlobalVel", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { void print(const std::string& s = "EquivInertialNavFactor_GlobalVel", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
std::cout << s << "(" std::cout << s << "("
<< keyFormatter(this->template key<1>()) << "," << keyFormatter(this->key1()) << ","
<< keyFormatter(this->template key<2>()) << "," << keyFormatter(this->key2()) << ","
<< keyFormatter(this->template key<3>()) << "," << keyFormatter(this->key3()) << ","
<< keyFormatter(this->template key<4>()) << "," << keyFormatter(this->key4()) << ","
<< keyFormatter(this->template key<5>()) << "\n"; << keyFormatter(this->key5()) << "\n";
std::cout << "delta_pos_in_t0: " << this->delta_pos_in_t0_.transpose() << std::endl; std::cout << "delta_pos_in_t0: " << this->delta_pos_in_t0_.transpose() << std::endl;
std::cout << "delta_vel_in_t0: " << this->delta_vel_in_t0_.transpose() << std::endl; std::cout << "delta_vel_in_t0: " << this->delta_vel_in_t0_.transpose() << std::endl;
std::cout << "delta_angles: " << this->delta_angles_ << std::endl; std::cout << "delta_angles: " << this->delta_angles_ << std::endl;

4
gtsam_unstable/slam/GaussMarkov1stOrderFactor.h
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@ -73,8 +73,8 @@ public:
/** print */ /** print */
void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
std::cout << s << "GaussMarkov1stOrderFactor(" std::cout << s << "GaussMarkov1stOrderFactor("
<< keyFormatter(this->template key<1>()) << "," << keyFormatter(this->key1()) << ","
<< keyFormatter(this->template key<2>()) << ")\n"; << keyFormatter(this->key2()) << ")\n";
this->noiseModel_->print(" noise model"); this->noiseModel_->print(" noise model");
} }

10
gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
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@ -117,11 +117,11 @@ public:
/** print */ /** print */
void print(const std::string& s = "InertialNavFactor_GlobalVelocity", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { void print(const std::string& s = "InertialNavFactor_GlobalVelocity", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
std::cout << s << "(" std::cout << s << "("
<< keyFormatter(this->template key<1>()) << "," << keyFormatter(this->key1()) << ","
<< keyFormatter(this->template key<2>()) << "," << keyFormatter(this->key2()) << ","
<< keyFormatter(this->template key<3>()) << "," << keyFormatter(this->key3()) << ","
<< keyFormatter(this->template key<4>()) << "," << keyFormatter(this->key4()) << ","
<< keyFormatter(this->template key<5>()) << "\n"; << keyFormatter(this->key5()) << "\n";
std::cout << "acc measurement: " << this->measurement_acc_.transpose() << std::endl; std::cout << "acc measurement: " << this->measurement_acc_.transpose() << std::endl;
std::cout << "gyro measurement: " << this->measurement_gyro_.transpose() << std::endl; std::cout << "gyro measurement: " << this->measurement_gyro_.transpose() << std::endl;
std::cout << "dt: " << this->dt_ << std::endl; std::cout << "dt: " << this->dt_ << std::endl;

4
gtsam_unstable/slam/InvDepthFactor3.h
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@ -93,8 +93,8 @@ public:
if (H1) *H1 = Matrix::Zero(2,6); if (H1) *H1 = Matrix::Zero(2,6);
if (H2) *H2 = Matrix::Zero(2,5); if (H2) *H2 = Matrix::Zero(2,5);
if (H3) *H3 = Matrix::Zero(2,1); if (H3) *H3 = Matrix::Zero(2,1);
std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) << std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) <<
" moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl; " moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl;
return Vector::Ones(2) * 2.0 * K_->fx(); return Vector::Ones(2) * 2.0 * K_->fx();
} }
return (Vector(1) << 0.0).finished(); return (Vector(1) << 0.0).finished();

4
gtsam_unstable/slam/PoseBetweenFactor.h
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@ -68,8 +68,8 @@ namespace gtsam {
/** print */ /** print */
void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
std::cout << s << "BetweenFactor(" std::cout << s << "BetweenFactor("
<< keyFormatter(this->template key<1>()) << "," << keyFormatter(this->key1()) << ","
<< keyFormatter(this->template key<2>()) << ")\n"; << keyFormatter(this->key2()) << ")\n";
measured_.print(" measured: "); measured_.print(" measured: ");
if(this->body_P_sensor_) if(this->body_P_sensor_)
this->body_P_sensor_->print(" sensor pose in body frame: "); this->body_P_sensor_->print(" sensor pose in body frame: ");

4
gtsam_unstable/slam/PoseToPointFactor.h
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@ -48,8 +48,8 @@ class PoseToPointFactor : public NoiseModelFactorN<POSE, POINT> {
void print(const std::string& s, const KeyFormatter& keyFormatter = void print(const std::string& s, const KeyFormatter& keyFormatter =
DefaultKeyFormatter) const override { DefaultKeyFormatter) const override {
std::cout << s << "PoseToPointFactor(" std::cout << s << "PoseToPointFactor("
<< keyFormatter(this->template key<1>()) << "," << keyFormatter(this->key1()) << ","
<< keyFormatter(this->template key<2>()) << ")\n" << keyFormatter(this->key2()) << ")\n"
<< " measured: " << measured_.transpose() << std::endl; << " measured: " << measured_.transpose() << std::endl;
this->noiseModel_->print(" noise model: "); this->noiseModel_->print(" noise model: ");
} }

4
gtsam_unstable/slam/ProjectionFactorPPP.h
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@ -143,9 +143,9 @@ namespace gtsam {
if (H3) *H3 = Matrix::Zero(2,3); if (H3) *H3 = Matrix::Zero(2,3);
if (verboseCheirality_) if (verboseCheirality_)
std::cout << e.what() << ": Landmark " std::cout << e.what() << ": Landmark "
<< DefaultKeyFormatter(this->template key<2>()) << DefaultKeyFormatter(this->key2())
<< " moved behind camera " << " moved behind camera "
<< DefaultKeyFormatter(this->template key<1>()) << DefaultKeyFormatter(this->key1())
<< std::endl; << std::endl;
if (throwCheirality_) if (throwCheirality_)
throw e; throw e;

4
gtsam_unstable/slam/ProjectionFactorPPPC.h
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@ -130,8 +130,8 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
if (H3) *H3 = Matrix::Zero(2,3); if (H3) *H3 = Matrix::Zero(2,3);
if (H4) *H4 = Matrix::Zero(2,CALIBRATION::Dim()); if (H4) *H4 = Matrix::Zero(2,CALIBRATION::Dim());
if (verboseCheirality_) if (verboseCheirality_)
std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) << std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) <<
" moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl; " moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl;
if (throwCheirality_) if (throwCheirality_)
throw e; throw e;
} }