make SharedGaussian inherit SharedNoiseModel

gtsam/base/Vector.cpp

@@ -229,19 +229,19 @@ bool assert_equal(const ConstSubVector& expected, const ConstSubVector& actual,
 /* ************************************************************************* */
 bool linear_dependent(const Vector& vec1, const Vector& vec2, double tol) {
 	if (vec1.size()!=vec2.size()) return false;
-	boost::optional<double> scale;
+	bool flag = false; 	double scale = 1.0;
 	size_t m = vec1.size();
 	for(size_t i=0; i<m; i++) {
 		if((fabs(vec1[i])>tol&&fabs(vec2[i])<tol) || (fabs(vec1[i])<tol&&fabs(vec2[i])>tol))
 			return false;
-		if(vec1[i] == 0 && vec2[i] == 0)
+		if(vec1[i] == 0 && vec2[i] == 0) continue;
-			continue;
+		if (!flag) {
-		if (!scale)
 			scale = vec1[i] / vec2[i];
-		else if (fabs(vec1[i] - vec2[i] * (*scale)) > tol)
+			flag = true ;
-			return false;
 		}
-	return scale.is_initialized();
+		else if (fabs(vec1[i] - vec2[i]*scale) > tol) return false;
+	}
+	return flag;
 }
 
 /* ************************************************************************* */

gtsam/linear/SharedGaussian.h

@@ -19,6 +19,7 @@
 #pragma once
 
 #include <gtsam/linear/NoiseModel.h>
+#include <gtsam/linear/SharedNoiseModel.h>
 
 namespace gtsam { // note, deliberately not in noiseModel namespace
 
@@ -26,44 +27,32 @@ namespace gtsam { // note, deliberately not in noiseModel namespace
 	 * A useful convenience class to refer to a shared Gaussian model
 	 * Also needed to make noise models in matlab
 	 */
-	struct SharedGaussian: public noiseModel::Gaussian::shared_ptr {
+	struct SharedGaussian: public SharedNoiseModel {
-		SharedGaussian() {
+
-		}
+	  typedef SharedNoiseModel Base;
-		// TODO: better way ?
+
-		SharedGaussian(const noiseModel::Gaussian::shared_ptr& p) :
+		SharedGaussian() {}
-			noiseModel::Gaussian::shared_ptr(p) {
+		SharedGaussian(const noiseModel::Gaussian::shared_ptr& p) : Base(p) {}
-		}
+		SharedGaussian(const noiseModel::Diagonal::shared_ptr& p) : Base(p) {}
-		SharedGaussian(const noiseModel::Diagonal::shared_ptr& p) :
+		SharedGaussian(const noiseModel::Constrained::shared_ptr& p) : Base(p) {}
-			noiseModel::Gaussian::shared_ptr(p) {
+		SharedGaussian(const noiseModel::Isotropic::shared_ptr& p) : Base(p) {}
-		}
+		SharedGaussian(const noiseModel::Unit::shared_ptr& p) : Base(p) {}
-		SharedGaussian(const noiseModel::Constrained::shared_ptr& p) :
-			noiseModel::Gaussian::shared_ptr(p) {
-		}
-		SharedGaussian(const noiseModel::Isotropic::shared_ptr& p) :
-			noiseModel::Gaussian::shared_ptr(p) {
-		}
-		SharedGaussian(const noiseModel::Unit::shared_ptr& p) :
-			noiseModel::Gaussian::shared_ptr(p) {
-		}
 
 		// Define GTSAM_MAGIC_GAUSSIAN to have access to slightly
 		// dangerous and non-shared (inefficient, wasteful) noise models.
 		// Intended to be used only in tests (if you must) and the MATLAB wrapper
 #ifdef GTSAM_MAGIC_GAUSSIAN
-		SharedGaussian(const Matrix& covariance) :
+		SharedGaussian(const Matrix& covariance)
-			noiseModel::Gaussian::shared_ptr(noiseModel::Gaussian::Covariance(covariance)) {
+		  :	Base(noiseModel::Gaussian::Covariance(covariance)) {}
-		}
+		SharedGaussian(const Vector& sigmas)
-		SharedGaussian(const Vector& sigmas) :
+		  : Base(noiseModel::Diagonal::Sigmas(sigmas)) {}
-			noiseModel::Gaussian::shared_ptr(noiseModel::Diagonal::Sigmas(sigmas)) {
-		}
 #endif
+
 // Define GTSAM_DANGEROUS_GAUSSIAN to have access to bug-prone fixed dimension Gaussians
 // Not intended for human use, only for backwards compatibility of old unit tests
 #ifdef GTSAM_DANGEROUS_GAUSSIAN
 		SharedGaussian(const double& s) :
-			noiseModel::Gaussian::shared_ptr(noiseModel::Isotropic::Sigma(
+			Base(noiseModel::Isotropic::Sigma(GTSAM_DANGEROUS_GAUSSIAN, s)) {}
-					GTSAM_DANGEROUS_GAUSSIAN, s)) {
-		}
 #endif
 
 		/** Serialization function */

gtsam/linear/SharedNoiseModel.h

@@ -12,7 +12,6 @@
 #pragma once
 
 #include <gtsam/linear/NoiseModel.h>
-#include <gtsam/linear/SharedGaussian.h>
 
 namespace gtsam { // note, deliberately not in noiseModel namespace
 
@@ -21,7 +20,6 @@ namespace gtsam { // note, deliberately not in noiseModel namespace
     typedef noiseModel::Base::shared_ptr Base;
 
     SharedNoiseModel() {}
-    SharedNoiseModel(const SharedGaussian &p): Base(p) {}
     SharedNoiseModel(const noiseModel::Robust::shared_ptr& p): Base(p) {}
     SharedNoiseModel(const noiseModel::Gaussian::shared_ptr& p): Base(p) {}
     SharedNoiseModel(const noiseModel::Diagonal::shared_ptr& p): Base(p) {}

gtsam/linear/tests/testNoiseModel.cpp

@@ -26,7 +26,7 @@ using namespace boost::assign;
 #include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/TestableAssertions.h>
 #include <gtsam/linear/NoiseModel.h>
-#include <gtsam/linear/SharedNoiseModel.h>
+#include <gtsam/linear/SharedGaussian.h>
 #include <gtsam/linear/SharedDiagonal.h>
 
 using namespace std;
@@ -238,8 +238,8 @@ TEST(NoiseModel, QRNan )
 TEST(NoiseModel, SmartCovariance )
 {
 	bool smart = true;
-	SharedNoiseModel expected = Unit::Create(3);
+	SharedGaussian expected = Unit::Create(3);
-	SharedNoiseModel actual = Gaussian::Covariance(eye(3), smart);
+	SharedGaussian actual = Gaussian::Covariance(eye(3), smart);
 	EXPECT(assert_equal(*expected,*actual));
 }
 
@@ -247,8 +247,8 @@ TEST(NoiseModel, SmartCovariance )
 TEST(NoiseModel, ScalarOrVector )
 {
 	bool smart = true;
-	SharedNoiseModel expected = Unit::Create(3);
+	SharedGaussian expected = Unit::Create(3);
-	SharedNoiseModel actual = Gaussian::Covariance(eye(3), smart);
+	SharedGaussian actual = Gaussian::Covariance(eye(3), smart);
 	EXPECT(assert_equal(*expected,*actual));
 }