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added cast<ValueType> function to Value

release/4.3a0
Mike Bosse 2014-10-25 12:18:12 +02:00
parent 4a3dc51f85
commit c2cdd21a7a
3 changed files with 17 additions and 6 deletions
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7
gtsam/base/GenericValue.h
View File

@ -187,4 +187,11 @@ private:
struct PoolTag { }; struct PoolTag { };
}; };
// define Value::cast here since now GenericValue has been declared
template<typename ValueType>
const ValueType& Value::cast() const {
return dynamic_cast<const GenericValue<ValueType>&>(*this).value();
}
} /* namespace gtsam */ } /* namespace gtsam */

4
gtsam/base/Value.h
View File

@ -122,6 +122,10 @@ namespace gtsam {
/** Assignment operator */ /** Assignment operator */
virtual Value& operator=(const Value& rhs) = 0; virtual Value& operator=(const Value& rhs) = 0;
/** Cast to known ValueType */
template<typename ValueType>
const ValueType& cast() const;
/** Virutal destructor */ /** Virutal destructor */
virtual ~Value() {} virtual ~Value() {}

12
gtsam/nonlinear/tests/testValues.cpp
View File

@ -353,12 +353,12 @@ TEST(Values, filter) {
BOOST_FOREACH(const Values::Filtered<>::KeyValuePair& key_value, filtered) { BOOST_FOREACH(const Values::Filtered<>::KeyValuePair& key_value, filtered) {
if(i == 0) { if(i == 0) {
LONGS_EQUAL(2, (long)key_value.key); LONGS_EQUAL(2, (long)key_value.key);
EXPECT(typeid(GenericValue<Pose2>) == typeid(key_value.value)); try {key_value.value.cast<Pose2>();} catch (const std::bad_cast& e) { FAIL("can't cast Value to Pose2");}
EXPECT(assert_equal(pose2, dynamic_cast<const GenericValue<Pose2>&>(key_value.value).value())); EXPECT(assert_equal(pose2, key_value.value.cast<Pose2>()));
} else if(i == 1) { } else if(i == 1) {
LONGS_EQUAL(3, (long)key_value.key); LONGS_EQUAL(3, (long)key_value.key);
EXPECT(typeid(GenericValue<Pose3>) == typeid(key_value.value)); try {key_value.value.cast<Pose3>();} catch (const std::bad_cast& e) { FAIL("can't cast Value to Pose3");}
EXPECT(assert_equal(pose3, dynamic_cast<const GenericValue<Pose3>&>(key_value.value).value())); EXPECT(assert_equal(pose3, key_value.value.cast<Pose3>()));
} else { } else {
EXPECT(false); EXPECT(false);
} }
@ -416,10 +416,10 @@ TEST(Values, Symbol_filter) {
BOOST_FOREACH(const Values::Filtered<Value>::KeyValuePair& key_value, values.filter(Symbol::ChrTest('y'))) { BOOST_FOREACH(const Values::Filtered<Value>::KeyValuePair& key_value, values.filter(Symbol::ChrTest('y'))) {
if(i == 0) { if(i == 0) {
LONGS_EQUAL(Symbol('y', 1), (long)key_value.key); LONGS_EQUAL(Symbol('y', 1), (long)key_value.key);
EXPECT(assert_equal(pose1, dynamic_cast<const GenericValue<Pose3>&>(key_value.value).value())); EXPECT(assert_equal(pose1, key_value.value.cast<Pose3>()));
} else if(i == 1) { } else if(i == 1) {
LONGS_EQUAL(Symbol('y', 3), (long)key_value.key); LONGS_EQUAL(Symbol('y', 3), (long)key_value.key);
EXPECT(assert_equal(pose3, dynamic_cast<const GenericValue<Pose3>&>(key_value.value).value())); EXPECT(assert_equal(pose3, key_value.value.cast<Pose3>()));
} else { } else {
EXPECT(false); EXPECT(false);
} }