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

Try some meta-transforms

release/4.3a0
dellaert 2014-10-13 13:34:00 +02:00
parent 1c1695353e
commit a52ff52941
1 changed files with 13 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
View File

@ -429,7 +429,6 @@ TEST(ExpressionFactor, composeTernary) {
namespace mpl = boost::mpl;
#include <boost/mpl/assert.hpp>
#include <boost/mpl/transform.hpp>
#include <boost/mpl/equal.hpp>
template<class T> struct Incomplete;
@ -443,20 +442,29 @@ BOOST_MPL_ASSERT((boost::is_same< Matrix2, Generated::Record::Jacobian2T >));
typedef mpl::vector<ExecutionTrace<Pose3>, ExecutionTrace<Point3> > ExpectedTraces;
typedef mpl::transform<MyTypes,ExecutionTrace<MPL::_1> >::type MyTraces;
BOOST_MPL_ASSERT((boost::mpl::equal< ExpectedTraces, MyTraces >));
BOOST_MPL_ASSERT((mpl::equal< ExpectedTraces, MyTraces >));
template <class T>
struct MakeTrace {
typedef ExecutionTrace<T> type;
};
typedef mpl::transform<MyTypes,MakeTrace<MPL::_1> >::type MyTraces1;
BOOST_MPL_ASSERT((boost::mpl::equal< ExpectedTraces, MyTraces1 >));
BOOST_MPL_ASSERT((mpl::equal< ExpectedTraces, MyTraces1 >));
// Try generating vectors of Expression types
typedef mpl::vector<Expression<Pose3>, Expression<Point3> > ExpectedExpressions;
typedef mpl::transform<MyTypes,Expression<MPL::_1> >::type Expressions;
BOOST_MPL_ASSERT((boost::mpl::equal< ExpectedExpressions, Expressions >));
BOOST_MPL_ASSERT((mpl::equal< ExpectedExpressions, Expressions >));
// Try generating vectors of Jacobian types
typedef mpl::vector<Matrix26, Matrix23 > ExpectedJacobians;
typedef mpl::transform<MyTypes,Jacobian<Point2,MPL::_1> >::type Jacobians;
BOOST_MPL_ASSERT((mpl::equal< ExpectedJacobians, Jacobians >));
// Try accessing a Jacobian
typedef mpl::int_<1> one;
typedef mpl::at<Jacobians,one>::type Jacobian23; // base zero !
BOOST_MPL_ASSERT((boost::is_same< Matrix23, Jacobian23>));
/* ************************************************************************* */
int main() {