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Boost Fusion needed to access values :-(

release/4.3a0
dellaert 2014-10-13 13:56:51 +02:00
parent a52ff52941
commit ba0b68110f
1 changed files with 16 additions and 2 deletions
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18
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
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@ -462,10 +462,24 @@ 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 !
typedef mpl::at_c<Jacobians,1>::type Jacobian23; // base zero !
BOOST_MPL_ASSERT((boost::is_same< Matrix23, Jacobian23>));
#include <boost/fusion/adapted/mpl.hpp>
#include <boost/fusion/include/mpl.hpp>
#include <boost/fusion/include/at_c.hpp>
// Create a value and access it
TEST(ExpressionFactor, JacobiansValue) {
Matrix23 expected;
ExpectedJacobians jacobians;
using boost::fusion::at_c;
Matrix23 actual = at_c<1>(jacobians);
CHECK(actual.cols() == expected.cols());
CHECK(actual.rows() == expected.rows());
}
/* ************************************************************************* */
int main() {
TestResult tr;