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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. * immutable, i.e., practicing functional programming.
*/ */
template<typename KEY> template<typename KEY>
class Conditional: public gtsam::Factor<KEY>, boost::noncopyable, public Testable<Conditional<KEY> > { class Conditional: public gtsam::Factor<KEY>, boost::noncopyable {
private: private:

35
gtsam/slam/ProjectionFactor.h
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@ -29,8 +29,8 @@ namespace gtsam {
* Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here. * 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. * i.e. the main building block for visual SLAM.
*/ */
template <class VALUES, class LMK, class POSK> template<class VALUES, class LMK, class POSK>
class GenericProjectionFactor : public NonlinearFactor2<VALUES, POSK, LMK>, Testable<GenericProjectionFactor<VALUES, LMK, POSK> > { class GenericProjectionFactor: public NonlinearFactor2<VALUES, POSK, LMK> {
protected: protected:
// Keep a copy of measurement and calibration for I/O // Keep a copy of measurement and calibration for I/O
@ -39,16 +39,16 @@ namespace gtsam {
public: public:
// shorthand for base class type /// shorthand for base class type
typedef NonlinearFactor2<VALUES, POSK, LMK> Base; 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; typedef boost::shared_ptr<GenericProjectionFactor<VALUES, LMK, POSK> > shared_ptr;
/** /// Default constructor
* Default constructor GenericProjectionFactor() :
*/ K_(new Cal3_S2(444, 555, 666, 777, 888)) {
GenericProjectionFactor() : K_(new Cal3_S2(444, 555, 666, 777, 888)) {} }
/** /**
* Constructor * Constructor
@ -58,9 +58,8 @@ namespace gtsam {
* @param landmarkNumber is the index of the landmark * @param landmarkNumber is the index of the landmark
* @param K the constant calibration * @param K the constant calibration
*/ */
GenericProjectionFactor(const Point2& z, GenericProjectionFactor(const Point2& z, const SharedNoiseModel& model,
const SharedNoiseModel& model, POSK j_pose, POSK j_pose, LMK j_landmark, const shared_ptrK& K) :
LMK j_landmark, const shared_ptrK& K) :
Base(model, j_pose, j_landmark), z_(z), K_(K) { Base(model, j_pose, j_landmark), z_(z), K_(K) {
} }
@ -73,17 +72,14 @@ namespace gtsam {
z_.print(s + ".z"); z_.print(s + ".z");
} }
/** /// equals
* equals bool equals(const GenericProjectionFactor<VALUES, LMK, POSK>& p
*/ , double tol = 1e-9) const {
bool equals(const GenericProjectionFactor<VALUES, LMK, POSK>& p, double tol = 1e-9) const {
return Base::equals(p, tol) && this->z_.equals(p.z_, tol) return Base::equals(p, tol) && this->z_.equals(p.z_, tol)
&& this->K_->equals(*p.K_, tol); && this->K_->equals(*p.K_, tol);
} }
/// Evaluate error h(x)-z and optionally derivatives
/** h(x)-z */
Vector evaluateError(const Pose3& pose, const Point3& point, Vector evaluateError(const Pose3& pose, const Point3& point,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const { boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
SimpleCamera camera(*K_, pose); SimpleCamera camera(*K_, pose);
@ -92,7 +88,8 @@ namespace gtsam {
} }
private: private:
/** Serialization function */
/// Serialization function
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) { void serialize(ARCHIVE & ar, const unsigned int version) {