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Apparently, expmap != exmap. TupleConfigN's are no longer broken now.

release/4.3a0
Alex Cunningham 2010-02-09 19:27:28 +00:00
parent 942e2b9c6d
commit 8ff64793f1
2 changed files with 21 additions and 16 deletions
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34
cpp/TupleConfig.h
View File

@ -200,9 +200,12 @@ namespace gtsam {
typedef Config1 Config1_t;
typedef Config2 Config2_t;
typedef TupleConfig<Config1, TupleConfigEnd<Config2> > Base;
typedef TupleConfig2<Config1, Config2> This;
TupleConfig2() {}
TupleConfig2(const TupleConfig2<Config1, Config2>& config);
TupleConfig2(const TupleConfig<Config1, TupleConfigEnd<Config2> >& config);
TupleConfig2(const This& config);
TupleConfig2(const Base& config);
TupleConfig2(const Config1& cfg1, const Config2& cfg2);
// access functions
@ -211,8 +214,8 @@ namespace gtsam {
};
template<class Config1, class Config2>
TupleConfig2<Config1, Config2> exmap(const TupleConfig2<Config1, Config2> c, const VectorConfig& delta) {
return c.exmap(delta);
TupleConfig2<Config1, Config2> expmap(const TupleConfig2<Config1, Config2> c, const VectorConfig& delta) {
return c.expmap(delta);
}
template<class Config1, class Config2, class Config3>
@ -235,8 +238,8 @@ namespace gtsam {
};
template<class Config1, class Config2, class Config3>
TupleConfig3<Config1, Config2, Config3> exmap(const TupleConfig3<Config1, Config2, Config3> c, const VectorConfig& delta) {
return c.exmap(delta);
TupleConfig3<Config1, Config2, Config3> expmap(const TupleConfig3<Config1, Config2, Config3> c, const VectorConfig& delta) {
return c.expmap(delta);
}
template<class Config1, class Config2, class Config3, class Config4>
@ -248,9 +251,12 @@ namespace gtsam {
typedef Config3 Config3_t;
typedef Config4 Config4_t;
typedef TupleConfig<Config1, TupleConfig<Config2,TupleConfig<Config3, TupleConfigEnd<Config4> > > > Base;
typedef TupleConfig4<Config1, Config2, Config3, Config4> This;
TupleConfig4() {}
TupleConfig4(const TupleConfig4<Config1, Config2, Config3, Config4>& config);
TupleConfig4(const TupleConfig<Config1, TupleConfig<Config2,TupleConfig<Config3, TupleConfigEnd<Config4> > > >& config);
TupleConfig4(const This& config);
TupleConfig4(const Base& config);
TupleConfig4(const Config1& cfg1, const Config2& cfg2, const Config3& cfg3,const Config4& cfg4);
// access functions
@ -261,8 +267,8 @@ namespace gtsam {
};
template<class Config1, class Config2, class Config3, class Config4>
TupleConfig4<Config1, Config2, Config3, Config4> exmap(const TupleConfig4<Config1, Config2, Config3, Config4> c, const VectorConfig& delta) {
return c.exmap(delta);
TupleConfig4<Config1, Config2, Config3, Config4> expmap(const TupleConfig4<Config1, Config2, Config3, Config4> c, const VectorConfig& delta) {
return c.expmap(delta);
}
template<class Config1, class Config2, class Config3, class Config4, class Config5>
@ -290,8 +296,8 @@ namespace gtsam {
};
template<class Config1, class Config2, class Config3, class Config4, class Config5>
TupleConfig5<Config1, Config2, Config3, Config4, Config5> exmap(const TupleConfig5<Config1, Config2, Config3, Config4, Config5> c, const VectorConfig& delta) {
return c.exmap(delta);
TupleConfig5<Config1, Config2, Config3, Config4, Config5> expmap(const TupleConfig5<Config1, Config2, Config3, Config4, Config5> c, const VectorConfig& delta) {
return c.expmap(delta);
}
template<class Config1, class Config2, class Config3, class Config4, class Config5, class Config6>
@ -320,8 +326,8 @@ namespace gtsam {
};
template<class Config1, class Config2, class Config3, class Config4, class Config5, class Config6>
TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> exmap(const TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> c, const VectorConfig& delta) {
return c.exmap(delta);
TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> expmap(const TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> c, const VectorConfig& delta) {
return c.expmap(delta);
}
/**

3
cpp/testTupleConfig.cpp
View File

@ -344,8 +344,7 @@ TEST(TupleConfig, expmap_typedefs)
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(expected, expmap(cfg1, increment)));
//CHECK(assert_equal(increment, logmap(cfg1, expected)));
}