12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Replaced BOOSE_FOREACH with for in tests folder. Tested the changed code locally: successful.

release/4.3a0
Yao Chen 2016-05-20 21:29:02 -04:00
parent 20b02d3f4d
commit a464769ce1
7 changed files with 12 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
tests/testGaussianBayesTreeB.cpp
View File

@ -26,7 +26,6 @@
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <boost/foreach.hpp>
#include <boost/assign/std/list.hpp> // for operator += #include <boost/assign/std/list.hpp> // for operator +=
using namespace boost::assign; using namespace boost::assign;
@ -220,7 +219,7 @@ TEST( GaussianBayesTree, balanced_smoother_shortcuts )
// Permutation toFront(Permutation::PullToFront(C3->keys(), varIndex.size())); // Permutation toFront(Permutation::PullToFront(C3->keys(), varIndex.size()));
// Permutation toFrontInverse(*toFront.inverse()); // Permutation toFrontInverse(*toFront.inverse());
// varIndex.permute(toFront); // varIndex.permute(toFront);
// BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, marginal) { // for(const GaussianFactor::shared_ptr& factor: marginal) {
// factor->permuteWithInverse(toFrontInverse); } // factor->permuteWithInverse(toFrontInverse); }
// GaussianBayesNet actual = *inference::EliminateUntil(marginal, C3->keys().size(), varIndex); // GaussianBayesNet actual = *inference::EliminateUntil(marginal, C3->keys().size(), varIndex);
// actual.permuteWithInverse(toFront); // actual.permuteWithInverse(toFront);

3
tests/testGaussianFactorGraphB.cpp
View File

@ -26,7 +26,6 @@
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <boost/foreach.hpp>
#include <boost/tuple/tuple.hpp> #include <boost/tuple/tuple.hpp>
#include <boost/assign/std/list.hpp> // for operator += #include <boost/assign/std/list.hpp> // for operator +=
#include <boost/assign/std/set.hpp> // for operator += #include <boost/assign/std/set.hpp> // for operator +=
@ -585,7 +584,7 @@ TEST( GaussianFactorGraph, conditional_sigma_failure) {
GaussianBayesTree actBT = *lfg.eliminateMultifrontal(); GaussianBayesTree actBT = *lfg.eliminateMultifrontal();
// Check that all sigmas in an unconstrained bayes tree are set to one // Check that all sigmas in an unconstrained bayes tree are set to one
BOOST_FOREACH(const GaussianBayesTree::sharedClique& clique, actBT.nodes() | br::map_values) { for(const GaussianBayesTree::sharedClique& clique: actBT.nodes() | br::map_values) {
GaussianConditional::shared_ptr conditional = clique->conditional(); GaussianConditional::shared_ptr conditional = clique->conditional();
//size_t dim = conditional->rows(); //size_t dim = conditional->rows();
//EXPECT(assert_equal(gtsam::Vector::Ones(dim), conditional->get_model()->sigmas(), tol)); //EXPECT(assert_equal(gtsam::Vector::Ones(dim), conditional->get_model()->sigmas(), tol));

5
tests/testGaussianISAM.cpp
View File

@ -22,7 +22,6 @@
#include <gtsam/linear/GaussianISAM.h> #include <gtsam/linear/GaussianISAM.h>
#include <gtsam/inference/Ordering.h> #include <gtsam/inference/Ordering.h>
#include <boost/foreach.hpp>
#include <boost/assign/std/list.hpp> // for operator += #include <boost/assign/std/list.hpp> // for operator +=
using namespace boost::assign; using namespace boost::assign;
#include <boost/range/adaptor/map.hpp> #include <boost/range/adaptor/map.hpp>
@ -46,7 +45,7 @@ TEST( ISAM, iSAM_smoother )
// run iSAM for every factor // run iSAM for every factor
GaussianISAM actual; GaussianISAM actual;
BOOST_FOREACH(boost::shared_ptr<GaussianFactor> factor, smoother) { for(boost::shared_ptr<GaussianFactor> factor: smoother) {
GaussianFactorGraph factorGraph; GaussianFactorGraph factorGraph;
factorGraph.push_back(factor); factorGraph.push_back(factor);
actual.update(factorGraph); actual.update(factorGraph);
@ -56,7 +55,7 @@ TEST( ISAM, iSAM_smoother )
GaussianBayesTree expected = *smoother.eliminateMultifrontal(ordering); GaussianBayesTree expected = *smoother.eliminateMultifrontal(ordering);
// Verify sigmas in the bayes tree // Verify sigmas in the bayes tree
BOOST_FOREACH(const GaussianBayesTree::sharedClique& clique, expected.nodes() | br::map_values) { for(const GaussianBayesTree::sharedClique& clique: expected.nodes() | br::map_values) {
GaussianConditional::shared_ptr conditional = clique->conditional(); GaussianConditional::shared_ptr conditional = clique->conditional();
EXPECT(!conditional->get_model()); EXPECT(!conditional->get_model());
} }

11
tests/testGaussianISAM2.cpp
View File

@ -23,7 +23,6 @@
#include <gtsam/base/debug.h> #include <gtsam/base/debug.h>
#include <gtsam/base/TestableAssertions.h> #include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/treeTraversal-inst.h> #include <gtsam/base/treeTraversal-inst.h>
#include <boost/foreach.hpp>
#include <boost/assign/list_of.hpp> #include <boost/assign/list_of.hpp>
#include <gtsam/base/deprecated/LieScalar.h> #include <gtsam/base/deprecated/LieScalar.h>
using namespace boost::assign; using namespace boost::assign;
@ -212,7 +211,7 @@ struct ConsistencyVisitor
if(find(node->parent()->children.begin(), node->parent()->children.end(), node) == node->parent()->children.end()) if(find(node->parent()->children.begin(), node->parent()->children.end(), node) == node->parent()->children.end())
consistent = false; consistent = false;
} }
BOOST_FOREACH(Key j, node->conditional()->frontals()) for(Key j: node->conditional()->frontals())
{ {
if(isam.nodes().at(j).get() != node.get()) if(isam.nodes().at(j).get() != node.get())
consistent = false; consistent = false;
@ -251,7 +250,7 @@ bool isam_check(const NonlinearFactorGraph& fullgraph, const Values& fullinit, c
// Check gradient at each node // Check gradient at each node
bool nodeGradientsOk = true; bool nodeGradientsOk = true;
typedef ISAM2::sharedClique sharedClique; typedef ISAM2::sharedClique sharedClique;
BOOST_FOREACH(const sharedClique& clique, isam.nodes() | br::map_values) { for(const sharedClique& clique: isam.nodes() | br::map_values) {
// Compute expected gradient // Compute expected gradient
GaussianFactorGraph jfg; GaussianFactorGraph jfg;
jfg += clique->conditional(); jfg += clique->conditional();
@ -483,7 +482,7 @@ TEST(ISAM2, swapFactors)
// Check gradient at each node // Check gradient at each node
typedef ISAM2::sharedClique sharedClique; typedef ISAM2::sharedClique sharedClique;
BOOST_FOREACH(const sharedClique& clique, isam.nodes() | br::map_values) { for(const sharedClique& clique: isam.nodes() | br::map_values) {
// Compute expected gradient // Compute expected gradient
GaussianFactorGraph jfg; GaussianFactorGraph jfg;
jfg += clique->conditional(); jfg += clique->conditional();
@ -608,7 +607,7 @@ TEST(ISAM2, constrained_ordering)
// Check gradient at each node // Check gradient at each node
typedef ISAM2::sharedClique sharedClique; typedef ISAM2::sharedClique sharedClique;
BOOST_FOREACH(const sharedClique& clique, isam.nodes() | br::map_values) { for(const sharedClique& clique: isam.nodes() | br::map_values) {
// Compute expected gradient // Compute expected gradient
GaussianFactorGraph jfg; GaussianFactorGraph jfg;
jfg += clique->conditional(); jfg += clique->conditional();
@ -650,7 +649,7 @@ namespace {
bool checkMarginalizeLeaves(ISAM2& isam, const FastList<Key>& leafKeys) { bool checkMarginalizeLeaves(ISAM2& isam, const FastList<Key>& leafKeys) {
Matrix expectedAugmentedHessian, expected3AugmentedHessian; Matrix expectedAugmentedHessian, expected3AugmentedHessian;
vector<Key> toKeep; vector<Key> toKeep;
BOOST_FOREACH(Key j, isam.getDelta() | br::map_keys) for(Key j: isam.getDelta() | br::map_keys)
if(find(leafKeys.begin(), leafKeys.end(), j) == leafKeys.end()) if(find(leafKeys.begin(), leafKeys.end(), j) == leafKeys.end())
toKeep.push_back(j); toKeep.push_back(j);

3
tests/testGeneralSFMFactorB.cpp
View File

@ -29,7 +29,6 @@
#include <CppUnitLite/Test.h> #include <CppUnitLite/Test.h>
#include <CppUnitLite/TestRegistry.h> #include <CppUnitLite/TestRegistry.h>
#include <CppUnitLite/TestResult.h> #include <CppUnitLite/TestResult.h>
#include <boost/foreach.hpp>
#include <stddef.h> #include <stddef.h>
#include <stdexcept> #include <stdexcept>
#include <string> #include <string>
@ -51,7 +50,7 @@ TEST(PinholeCamera, BAL) {
NonlinearFactorGraph graph; NonlinearFactorGraph graph;
for (size_t j = 0; j < db.number_tracks(); j++) { for (size_t j = 0; j < db.number_tracks(); j++) {
BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) for (const SfM_Measurement& m: db.tracks[j].measurements)
graph.push_back(sfmFactor(m.second, unit2, m.first, P(j))); graph.push_back(sfmFactor(m.second, unit2, m.first, P(j)));
} }

2
tests/testSubgraphPreconditioner.cpp
View File

@ -57,7 +57,7 @@ TEST( SubgraphPreconditioner, planarOrdering ) {
/** unnormalized error */ /** unnormalized error */
static double error(const GaussianFactorGraph& fg, const VectorValues& x) { static double error(const GaussianFactorGraph& fg, const VectorValues& x) {
double total_error = 0.; double total_error = 0.;
BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, fg) for(const GaussianFactor::shared_ptr& factor: fg)
total_error += factor->error(x); total_error += factor->error(x);
return total_error; return total_error;
} }

3
tests/testSubgraphSolver.cpp
View File

@ -28,7 +28,6 @@
#include <gtsam/inference/Ordering.h> #include <gtsam/inference/Ordering.h>
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
#include <boost/foreach.hpp>
#include <boost/tuple/tuple.hpp> #include <boost/tuple/tuple.hpp>
#include <boost/assign/std/list.hpp> #include <boost/assign/std/list.hpp>
using namespace boost::assign; using namespace boost::assign;
@ -41,7 +40,7 @@ using namespace example;
/** unnormalized error */ /** unnormalized error */
static double error(const GaussianFactorGraph& fg, const VectorValues& x) { static double error(const GaussianFactorGraph& fg, const VectorValues& x) {
double total_error = 0.; double total_error = 0.;
BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, fg) for(const GaussianFactor::shared_ptr& factor: fg)
total_error += factor->error(x); total_error += factor->error(x);
return total_error; return total_error;
} }