revert confusing `->template key<N>()` notations
revert to using shortcut form: `key1()`, `key2()`release/4.3a0
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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); | ||||
|     if (!factor) continue; | ||||
| 
 | ||||
|     KEY key1 = factor->template key<1>(); | ||||
|     KEY key2 = factor->template key<2>(); | ||||
|     KEY key1 = factor->key1(); | ||||
|     KEY key2 = factor->key2(); | ||||
| 
 | ||||
|     PoseVertex v1 = key2vertex.find(key1)->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); | ||||
|     if (!factor2) continue; | ||||
| 
 | ||||
|     KEY key1 = factor2->template key<1>(); | ||||
|     KEY key2 = factor2->template key<2>(); | ||||
|     KEY key1 = factor2->key1(); | ||||
|     KEY key2 = factor2->key2(); | ||||
|     // if the tree contains the key
 | ||||
|     if ((tree.find(key1) != tree.end() && | ||||
|        tree.find(key1)->second.compare(key2) == 0) || | ||||
|  |  | |||
|  | @ -101,7 +101,7 @@ class FunctorizedFactor : public NoiseModelFactorN<T> { | |||
|       const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override { | ||||
|     Base::print(s, keyFormatter); | ||||
|     std::cout << s << (s != "" ? " " : "") << "FunctorizedFactor(" | ||||
|               << keyFormatter(this->template key<1>()) << ")" << std::endl; | ||||
|               << keyFormatter(key1()) << ")" << std::endl; | ||||
|     traits<R>::Print(measured_, "  measurement: "); | ||||
|     std::cout << "  noise model sigmas: " << noiseModel_->sigmas().transpose() | ||||
|               << std::endl; | ||||
|  | @ -208,8 +208,8 @@ class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2> { | |||
|       const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override { | ||||
|     Base::print(s, keyFormatter); | ||||
|     std::cout << s << (s != "" ? " " : "") << "FunctorizedFactor2(" | ||||
|               << keyFormatter(this->template key<1>()) << ", " | ||||
|               << keyFormatter(this->template key<2>()) << ")" << std::endl; | ||||
|               << keyFormatter(key1()) << ", " | ||||
|               << keyFormatter(key2()) << ")" << std::endl; | ||||
|     traits<R>::Print(measured_, "  measurement: "); | ||||
|     std::cout << "  noise model sigmas: " << noiseModel_->sigmas().transpose() | ||||
|               << std::endl; | ||||
|  |  | |||
|  | @ -88,8 +88,8 @@ namespace gtsam { | |||
|         const std::string& s = "", | ||||
|         const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { | ||||
|       std::cout << s << "BetweenFactor(" | ||||
|           << keyFormatter(this->template key<1>()) << "," | ||||
|           << keyFormatter(this->template key<2>()) << ")\n"; | ||||
|           << keyFormatter(key1()) << "," | ||||
|           << keyFormatter(key2()) << ")\n"; | ||||
|       traits<T>::Print(measured_, "  measured: "); | ||||
|       this->noiseModel_->print("  noise model: "); | ||||
|     } | ||||
|  |  | |||
|  | @ -129,7 +129,7 @@ struct BoundingConstraint2: public NoiseModelFactorN<VALUE1, VALUE2> { | |||
|   /** active when constraint *NOT* met */ | ||||
|   bool active(const Values& c) const override { | ||||
|     // 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>(key1()), c.at<X2>(key2())); | ||||
|     return (isGreaterThan_) ? x <= threshold_ : x >= threshold_; | ||||
|   } | ||||
| 
 | ||||
|  |  | |||
|  | @ -130,8 +130,8 @@ class FrobeniusBetweenFactor : public NoiseModelFactorN<Rot, Rot> { | |||
|   print(const std::string &s, | ||||
|         const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override { | ||||
|     std::cout << s << "FrobeniusBetweenFactor<" << demangle(typeid(Rot).name()) | ||||
|               << ">(" << keyFormatter(this->template key<1>()) << "," | ||||
|               << keyFormatter(this->template key<2>()) << ")\n"; | ||||
|               << ">(" << keyFormatter(key1()) << "," | ||||
|               << keyFormatter(key2()) << ")\n"; | ||||
|     traits<Rot>::Print(R12_, "  R12: "); | ||||
|     this->noiseModel_->print("  noise model: "); | ||||
|   } | ||||
|  |  | |||
|  | @ -140,7 +140,7 @@ public: | |||
|     // Only linearize if the factor is active
 | ||||
|     if (!this->active(values)) return boost::shared_ptr<JacobianFactor>(); | ||||
| 
 | ||||
|     const Key key1 = this->template key<1>(), key2 = this->template key<2>(); | ||||
|     const Key key1 = key1(), key2 = key2(); | ||||
|     JacobianC H1; | ||||
|     JacobianL H2; | ||||
|     Vector2 b; | ||||
|  | @ -270,8 +270,8 @@ public: | |||
|       if (H1) *H1 = Matrix::Zero(2, 6); | ||||
|       if (H2) *H2 = Matrix::Zero(2, 3); | ||||
|       if (H3) *H3 = Matrix::Zero(2, DimK); | ||||
|       std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) | ||||
|       << " behind Camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl; | ||||
|       std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(key2()) | ||||
|       << " behind Camera " << DefaultKeyFormatter(key1()) << std::endl; | ||||
|     } | ||||
|     return Z_2x1; | ||||
|   } | ||||
|  |  | |||
|  | @ -154,10 +154,10 @@ namespace gtsam { | |||
|         if (H1) *H1 = Matrix::Zero(2,6); | ||||
|         if (H2) *H2 = Matrix::Zero(2,3); | ||||
|         if (verboseCheirality_) | ||||
|           std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) << | ||||
|               " moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl; | ||||
|           std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(key2()) << | ||||
|               " moved behind camera " << DefaultKeyFormatter(key1()) << std::endl; | ||||
|         if (throwCheirality_) | ||||
|           throw CheiralityException(this->template key<2>()); | ||||
|           throw CheiralityException(key2()); | ||||
|       } | ||||
|       return Vector2::Constant(2.0 * K_->fx()); | ||||
|     } | ||||
|  |  | |||
|  | @ -107,16 +107,16 @@ public: | |||
|   void print(const std::string& s="", | ||||
|       const gtsam::KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { | ||||
|     std::cout << s << ": ReferenceFrameFactor(" | ||||
|         << "Global: " << keyFormatter(this->template key<1>()) << "," | ||||
|         << " Transform: " << keyFormatter(this->template key<2>()) << "," | ||||
|         << " Local: " << keyFormatter(this->template key<3>()) << ")\n"; | ||||
|         << "Global: " << keyFormatter(key1()) << "," | ||||
|         << " Transform: " << keyFormatter(key2()) << "," | ||||
|         << " Local: " << keyFormatter(key3()) << ")\n"; | ||||
|     this->noiseModel_->print("  noise model"); | ||||
|   } | ||||
| 
 | ||||
|   // access - convenience functions
 | ||||
|   Key global_key() const { return this->template key<1>(); } | ||||
|   Key transform_key() const { return this->template key<2>(); } | ||||
|   Key local_key() const { return this->template key<3>(); } | ||||
|   Key global_key() const { return key1(); } | ||||
|   Key transform_key() const { return key2(); } | ||||
|   Key local_key() const { return key3(); } | ||||
| 
 | ||||
| private: | ||||
|   /** Serialization function */ | ||||
|  |  | |||
|  | @ -141,10 +141,10 @@ public: | |||
|       if (H1) *H1 = Matrix::Zero(3,6); | ||||
|       if (H2) *H2 = Z_3x3; | ||||
|       if (verboseCheirality_) | ||||
|       std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) << | ||||
|           " moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl; | ||||
|       std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(key2()) << | ||||
|           " moved behind camera " << DefaultKeyFormatter(key1()) << std::endl; | ||||
|       if (throwCheirality_) | ||||
|         throw StereoCheiralityException(this->template key<2>()); | ||||
|         throw StereoCheiralityException(key2()); | ||||
|     } | ||||
|     return Vector3::Constant(2.0 * K_->fx()); | ||||
|   } | ||||
|  |  | |||
|  | @ -136,11 +136,11 @@ public: | |||
|   /** print */ | ||||
|   void print(const std::string& s = "EquivInertialNavFactor_GlobalVel", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { | ||||
|     std::cout << s << "(" | ||||
|         << keyFormatter(this->template key<1>()) << "," | ||||
|         << keyFormatter(this->template key<2>()) << "," | ||||
|         << keyFormatter(this->template key<3>()) << "," | ||||
|         << keyFormatter(this->template key<4>()) << "," | ||||
|         << keyFormatter(this->template key<5>()) << "\n"; | ||||
|         << keyFormatter(key1()) << "," | ||||
|         << keyFormatter(key2()) << "," | ||||
|         << keyFormatter(key3()) << "," | ||||
|         << keyFormatter(key4()) << "," | ||||
|         << keyFormatter(key5()) << "\n"; | ||||
|     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_angles: " << this->delta_angles_ << std::endl; | ||||
|  |  | |||
|  | @ -73,8 +73,8 @@ public: | |||
|   /** print */ | ||||
|   void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { | ||||
|     std::cout << s << "GaussMarkov1stOrderFactor(" | ||||
|         << keyFormatter(this->template key<1>()) << "," | ||||
|         << keyFormatter(this->template key<2>()) << ")\n"; | ||||
|         << keyFormatter(key1()) << "," | ||||
|         << keyFormatter(key2()) << ")\n"; | ||||
|     this->noiseModel_->print("  noise model"); | ||||
|   } | ||||
| 
 | ||||
|  |  | |||
|  | @ -117,11 +117,11 @@ public: | |||
|   /** print */ | ||||
|   void print(const std::string& s = "InertialNavFactor_GlobalVelocity", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { | ||||
|     std::cout << s << "(" | ||||
|         << keyFormatter(this->template key<1>()) << "," | ||||
|         << keyFormatter(this->template key<2>()) << "," | ||||
|         << keyFormatter(this->template key<3>()) << "," | ||||
|         << keyFormatter(this->template key<4>()) << "," | ||||
|         << keyFormatter(this->template key<5>()) << "\n"; | ||||
|         << keyFormatter(key1()) << "," | ||||
|         << keyFormatter(key2()) << "," | ||||
|         << keyFormatter(key3()) << "," | ||||
|         << keyFormatter(key4()) << "," | ||||
|         << keyFormatter(key5()) << "\n"; | ||||
|     std::cout << "acc measurement: " << this->measurement_acc_.transpose() << std::endl; | ||||
|     std::cout << "gyro measurement: " << this->measurement_gyro_.transpose() << std::endl; | ||||
|     std::cout << "dt: " << this->dt_ << std::endl; | ||||
|  |  | |||
|  | @ -93,8 +93,8 @@ public: | |||
|       if (H1) *H1 = Matrix::Zero(2,6); | ||||
|       if (H2) *H2 = Matrix::Zero(2,5); | ||||
|       if (H3) *H3 = Matrix::Zero(2,1); | ||||
|       std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) << | ||||
|           " moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl; | ||||
|       std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(key2()) << | ||||
|           " moved behind camera " << DefaultKeyFormatter(key1()) << std::endl; | ||||
|       return Vector::Ones(2) * 2.0 * K_->fx(); | ||||
|     } | ||||
|     return (Vector(1) << 0.0).finished(); | ||||
|  |  | |||
|  | @ -68,8 +68,8 @@ namespace gtsam { | |||
|     /** print */ | ||||
|     void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { | ||||
|       std::cout << s << "BetweenFactor(" | ||||
|           << keyFormatter(this->template key<1>()) << "," | ||||
|           << keyFormatter(this->template key<2>()) << ")\n"; | ||||
|           << keyFormatter(key1()) << "," | ||||
|           << keyFormatter(key2()) << ")\n"; | ||||
|       measured_.print("  measured: "); | ||||
|       if(this->body_P_sensor_) | ||||
|         this->body_P_sensor_->print("  sensor pose in body frame: "); | ||||
|  |  | |||
|  | @ -48,8 +48,8 @@ class PoseToPointFactor : public NoiseModelFactorN<POSE, POINT> { | |||
|   void print(const std::string& s, const KeyFormatter& keyFormatter = | ||||
|                                        DefaultKeyFormatter) const override { | ||||
|     std::cout << s << "PoseToPointFactor(" | ||||
|               << keyFormatter(this->template key<1>()) << "," | ||||
|               << keyFormatter(this->template key<2>()) << ")\n" | ||||
|               << keyFormatter(key1()) << "," | ||||
|               << keyFormatter(key2()) << ")\n" | ||||
|               << "  measured: " << measured_.transpose() << std::endl; | ||||
|     this->noiseModel_->print("  noise model: "); | ||||
|   } | ||||
|  |  | |||
|  | @ -143,9 +143,9 @@ namespace gtsam { | |||
|         if (H3) *H3 = Matrix::Zero(2,3); | ||||
|         if (verboseCheirality_) | ||||
|             std::cout << e.what() << ": Landmark " | ||||
|                       << DefaultKeyFormatter(this->template key<2>()) | ||||
|                       << DefaultKeyFormatter(key2()) | ||||
|                       << " moved behind camera " | ||||
|                       << DefaultKeyFormatter(this->template key<1>()) | ||||
|                       << DefaultKeyFormatter(key1()) | ||||
|                       << std::endl; | ||||
|         if (throwCheirality_) | ||||
|           throw e; | ||||
|  |  | |||
|  | @ -130,8 +130,8 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC | |||
|         if (H3) *H3 = Matrix::Zero(2,3); | ||||
|         if (H4) *H4 = Matrix::Zero(2,CALIBRATION::Dim()); | ||||
|         if (verboseCheirality_) | ||||
|           std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) << | ||||
|               " moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl; | ||||
|           std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(key2()) << | ||||
|               " moved behind camera " << DefaultKeyFormatter(key1()) << std::endl; | ||||
|         if (throwCheirality_) | ||||
|           throw e; | ||||
|       } | ||||
|  |  | |||
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