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Removed spurious Testable inheritance

release/4.3a0
Frank Dellaert 2011-09-07 02:43:44 +00:00
parent 5268de198d
commit c4a88102ef
2 changed files with 18 additions and 21 deletions
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2
gtsam/inference/Conditional.h
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@ -42,7 +42,7 @@ namespace gtsam {
* immutable, i.e., practicing functional programming.
*/
template<typename KEY>
class Conditional: public gtsam::Factor<KEY>, boost::noncopyable, public Testable<Conditional<KEY> > {
class Conditional: public gtsam::Factor<KEY>, boost::noncopyable {
private:

37
gtsam/slam/ProjectionFactor.h
View File

@ -29,8 +29,8 @@ namespace gtsam {
* Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
* i.e. the main building block for visual SLAM.
*/
template <class VALUES, class LMK, class POSK>
class GenericProjectionFactor : public NonlinearFactor2<VALUES, POSK, LMK>, Testable<GenericProjectionFactor<VALUES, LMK, POSK> > {
template<class VALUES, class LMK, class POSK>
class GenericProjectionFactor: public NonlinearFactor2<VALUES, POSK, LMK> {
protected:
// Keep a copy of measurement and calibration for I/O
@ -39,16 +39,16 @@ namespace gtsam {
public:
// shorthand for base class type
/// shorthand for base class type
typedef NonlinearFactor2<VALUES, POSK, LMK> Base;
// shorthand for a smart pointer to a factor
/// shorthand for a smart pointer to a factor
typedef boost::shared_ptr<GenericProjectionFactor<VALUES, LMK, POSK> > shared_ptr;
/**
* Default constructor
*/
GenericProjectionFactor() : K_(new Cal3_S2(444, 555, 666, 777, 888)) {}
/// Default constructor
GenericProjectionFactor() :
K_(new Cal3_S2(444, 555, 666, 777, 888)) {
}
/**
* Constructor
@ -58,10 +58,9 @@ namespace gtsam {
* @param landmarkNumber is the index of the landmark
* @param K the constant calibration
*/
GenericProjectionFactor(const Point2& z,
const SharedNoiseModel& model, POSK j_pose,
LMK j_landmark, const shared_ptrK& K) :
Base(model, j_pose, j_landmark), z_(z), K_(K) {
GenericProjectionFactor(const Point2& z, const SharedNoiseModel& model,
POSK j_pose, LMK j_landmark, const shared_ptrK& K) :
Base(model, j_pose, j_landmark), z_(z), K_(K) {
}
/**
@ -73,17 +72,14 @@ namespace gtsam {
z_.print(s + ".z");
}
/**
* equals
*/
bool equals(const GenericProjectionFactor<VALUES, LMK, POSK>& p, double tol = 1e-9) const {
/// equals
bool equals(const GenericProjectionFactor<VALUES, LMK, POSK>& p
, double tol = 1e-9) const {
return Base::equals(p, tol) && this->z_.equals(p.z_, tol)
&& this->K_->equals(*p.K_, tol);
}
/** h(x)-z */
/// Evaluate error h(x)-z and optionally derivatives
Vector evaluateError(const Pose3& pose, const Point3& point,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
SimpleCamera camera(*K_, pose);
@ -92,7 +88,8 @@ namespace gtsam {
}
private:
/** Serialization function */
/// Serialization function
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {