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

Side-stepped linking mess

release/4.3a0
dellaert 2015-01-22 16:46:46 +01:00
parent 920bdcb088
commit b871489a6a
3 changed files with 5 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
gtsam_unstable/geometry/Event.cpp
View File

@ -21,7 +21,4 @@
namespace gtsam { namespace gtsam {
const double Event::Speed = 330;
const Matrix14 Event::JacobianZ = (Matrix14() << 0,0,0,1).finished();
} //\ namespace gtsam } //\ namespace gtsam

6
gtsam_unstable/geometry/Event.h
View File

@ -33,10 +33,6 @@ class Event {
public: public:
enum { dimension = 4 }; enum { dimension = 4 };
/// Speed of sound
static const double Speed;
static const Matrix14 JacobianZ;
/// Default Constructor /// Default Constructor
Event() : Event() :
time_(0) { time_(0) {
@ -57,6 +53,7 @@ public:
// TODO we really have to think of a better way to do linear arguments // TODO we really have to think of a better way to do linear arguments
double height(OptionalJacobian<1,4> H = boost::none) const { double height(OptionalJacobian<1,4> H = boost::none) const {
static const Matrix14 JacobianZ = (Matrix14() << 0,0,0,1).finished();
if (H) *H = JacobianZ; if (H) *H = JacobianZ;
return location_.z(); return location_.z();
} }
@ -87,6 +84,7 @@ public:
double toa(const Point3& microphone, // double toa(const Point3& microphone, //
OptionalJacobian<1, 4> H1 = boost::none, // OptionalJacobian<1, 4> H1 = boost::none, //
OptionalJacobian<1, 3> H2 = boost::none) const { OptionalJacobian<1, 3> H2 = boost::none) const {
static const double Speed = 330;
Matrix13 D1, D2; Matrix13 D1, D2;
double distance = location_.distance(microphone, D1, D2); double distance = location_.distance(microphone, D1, D2);
if (H1) if (H1)

6
gtsam_unstable/geometry/tests/testEvent.cpp
View File

@ -45,13 +45,13 @@ TEST( Event, Constructor ) {
//***************************************************************************** //*****************************************************************************
TEST( Event, Toa1 ) { TEST( Event, Toa1 ) {
Event event(0, 1, 0, 0); Event event(0, 1, 0, 0);
double expected = 1 / Event::Speed; double expected = 1. / 330;
EXPECT_DOUBLES_EQUAL(expected, event.toa(microphoneAt0), 1e-9); EXPECT_DOUBLES_EQUAL(expected, event.toa(microphoneAt0), 1e-9);
} }
//***************************************************************************** //*****************************************************************************
TEST( Event, Toa2 ) { TEST( Event, Toa2 ) {
double expectedTOA = timeOfEvent + 1 / Event::Speed; double expectedTOA = timeOfEvent + 1. / 330;
EXPECT_DOUBLES_EQUAL(expectedTOA, exampleEvent.toa(microphoneAt0), 1e-9); EXPECT_DOUBLES_EQUAL(expectedTOA, exampleEvent.toa(microphoneAt0), 1e-9);
} }
@ -79,7 +79,7 @@ TEST( Event, Expression ) {
Values values; Values values;
values.insert(key, exampleEvent); values.insert(key, exampleEvent);
double expectedTOA = timeOfEvent + 1 / Event::Speed; double expectedTOA = timeOfEvent + 1. / 330;
EXPECT_DOUBLES_EQUAL(expectedTOA, expression.value(values), 1e-9); EXPECT_DOUBLES_EQUAL(expectedTOA, expression.value(values), 1e-9);
} }