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* Print symbol interpretation of key in IndeterminantLinearSystemException. 

* Add fPIC to libmetis.
* Fix warnings in PreintegratedBase.
release/4.3a0
Thomas Schneider 2015-02-16 09:59:18 +01:00
parent 659aeb1f23
commit b23de64ce0
3 changed files with 8 additions and 4 deletions
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1
gtsam/3rdparty/metis/libmetis/CMakeLists.txt vendored
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@ -3,6 +3,7 @@ include_directories(.)
# Find sources. # Find sources.
file(GLOB metis_sources *.c) file(GLOB metis_sources *.c)
# Build libmetis. # Build libmetis.
add_definitions(-fPIC)
add_library(metis ${METIS_LIBRARY_TYPE} ${GKlib_sources} ${metis_sources}) add_library(metis ${METIS_LIBRARY_TYPE} ${GKlib_sources} ${metis_sources})
if(UNIX) if(UNIX)
target_link_libraries(metis m) target_link_libraries(metis m)

9
gtsam/linear/linearExceptions.cpp
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@ -17,7 +17,7 @@
*/ */
#include <gtsam/linear/linearExceptions.h> #include <gtsam/linear/linearExceptions.h>
#include <gtsam/inference/Symbol.h>
#include <boost/format.hpp> #include <boost/format.hpp>
namespace gtsam { namespace gtsam {
@ -25,16 +25,19 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
const char* IndeterminantLinearSystemException::what() const throw() const char* IndeterminantLinearSystemException::what() const throw()
{ {
if(!description_) if(!description_) {
description_ = String( description_ = String(
"\nIndeterminant linear system detected while working near variable\n" "\nIndeterminant linear system detected while working near variable\n"
+ boost::lexical_cast<String>(j_) + ".\n" + boost::lexical_cast<String>(j_) +
+ " (Symbol: " + boost::lexical_cast<String>(
gtsam::DefaultKeyFormatter(gtsam::Symbol(j_))) + ").\n"
"\n\ "\n\
Thrown when a linear system is ill-posed. The most common cause for this\n\ Thrown when a linear system is ill-posed. The most common cause for this\n\
error is having underconstrained variables. Mathematically, the system is\n\ error is having underconstrained variables. Mathematically, the system is\n\
underdetermined. See the GTSAM Doxygen documentation at\n\ underdetermined. See the GTSAM Doxygen documentation at\n\
http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for\n\ http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for\n\
more information."); more information.");
}
return description_->c_str(); return description_->c_str();
} }

2
gtsam/navigation/PreintegrationBase.h
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@ -83,7 +83,7 @@ public:
integrationCovariance_(integrationErrorCovariance) {} integrationCovariance_(integrationErrorCovariance) {}
/// methods to access class variables /// methods to access class variables
const bool use2ndOrderIntegration() const {return use2ndOrderIntegration_;} bool use2ndOrderIntegration() const {return use2ndOrderIntegration_;}
const Vector3& deltaPij() const {return deltaPij_;} const Vector3& deltaPij() const {return deltaPij_;}
const Vector3& deltaVij() const {return deltaVij_;} const Vector3& deltaVij() const {return deltaVij_;}
const imuBias::ConstantBias& biasHat() const { return biasHat_;} const imuBias::ConstantBias& biasHat() const { return biasHat_;}