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Deprecate ExpressionFactor2

release/4.3a0
Jose Luis Blanco Claraco 2020-07-28 00:20:16 +02:00
parent 90dc1ce3b5
commit c9bd7ef8a7
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1 changed files with 55 additions and 62 deletions
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117
gtsam/nonlinear/ExpressionFactor.h
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@ -20,6 +20,7 @@
#pragma once #pragma once
#include <array> #include <array>
#include <gtsam/config.h>
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <gtsam/nonlinear/Expression.h> #include <gtsam/nonlinear/Expression.h>
#include <gtsam/nonlinear/NonlinearFactor.h> #include <gtsam/nonlinear/NonlinearFactor.h>
@ -226,68 +227,6 @@ private:
template <typename T> template <typename T>
struct traits<ExpressionFactor<T> > : public Testable<ExpressionFactor<T> > {}; struct traits<ExpressionFactor<T> > : public Testable<ExpressionFactor<T> > {};
/**
* Binary specialization of ExpressionFactor meant as a base class for binary
* factors. Enforces an 'expression' method with two keys, and provides 'evaluateError'.
* Derived class (a binary factor!) needs to call 'initialize'.
*/
template <typename T, typename A1, typename A2>
class ExpressionFactor2 : public ExpressionFactor<T> {
public:
/// Destructor
virtual ~ExpressionFactor2() {}
/// Backwards compatible evaluateError, to make existing tests compile
Vector evaluateError(const A1& a1, const A2& a2,
boost::optional<Matrix&> H1 = boost::none,
boost::optional<Matrix&> H2 = boost::none) const {
Values values;
values.insert(this->keys_[0], a1);
values.insert(this->keys_[1], a2);
std::vector<Matrix> H(2);
Vector error = this->unwhitenedError(values, H);
if (H1) (*H1) = H[0];
if (H2) (*H2) = H[1];
return error;
}
/// Recreate expression from given keys_ and measured_, used in load
/// Needed to deserialize a derived factor
virtual Expression<T> expression(Key key1, Key key2) const {
throw std::runtime_error("ExpressionFactor2::expression not provided: cannot deserialize.");
}
protected:
/// Default constructor, for serialization
ExpressionFactor2() {}
/// Constructor takes care of keys, but still need to call initialize
ExpressionFactor2(Key key1, Key key2,
const SharedNoiseModel& noiseModel,
const T& measurement)
: ExpressionFactor<T>(noiseModel, measurement) {
this->keys_.push_back(key1);
this->keys_.push_back(key2);
}
private:
/// Return an expression that predicts the measurement given Values
Expression<T> expression() const override {
return expression(this->keys_[0], this->keys_[1]);
}
friend class boost::serialization::access;
template <class ARCHIVE>
void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
ar& boost::serialization::make_nvp(
"ExpressionFactor", boost::serialization::base_object<ExpressionFactor<T> >(*this));
}
};
/// traits
template <typename T, typename A1, typename A2>
struct traits<ExpressionFactor2<T,A1,A2>> : public Testable<ExpressionFactor2<T,A1,A2>> {};
// ExpressionFactor2
/** /**
* N-ary variadic template for ExpressionFactor meant as a base class for N-ary * N-ary variadic template for ExpressionFactor meant as a base class for N-ary
* factors. Enforces an 'expression' method with N keys. * factors. Enforces an 'expression' method with N keys.
@ -355,4 +294,58 @@ struct traits<ExpressionFactorN<T, Args...>>
: public Testable<ExpressionFactorN<T, Args...>> {}; : public Testable<ExpressionFactorN<T, Args...>> {};
// ExpressionFactorN // ExpressionFactorN
#if defined(GTSAM_ALLOW_DEPRECATED_SINCE_V4)
/**
* Binary specialization of ExpressionFactor meant as a base class for binary
* factors. Enforces an 'expression' method with two keys, and provides
* 'evaluateError'. Derived class (a binary factor!) needs to call 'initialize'.
*
* \sa ExpressionFactorN
* \deprecated Prefer the more general ExpressionFactorN<>.
*/
template <typename T, typename A1, typename A2>
class ExpressionFactor2 : public ExpressionFactorN<T, A1, A2> {
public:
/// Destructor
~ExpressionFactor2() override {}
/// Backwards compatible evaluateError, to make existing tests compile
Vector evaluateError(const A1 &a1, const A2 &a2,
boost::optional<Matrix &> H1 = boost::none,
boost::optional<Matrix &> H2 = boost::none) const {
Values values;
values.insert(this->keys_[0], a1);
values.insert(this->keys_[1], a2);
std::vector<Matrix> H(2);
Vector error = ExpressionFactor<T>::unwhitenedError(values, H);
if (H1) (*H1) = H[0];
if (H2) (*H2) = H[1];
return error;
}
/// Recreate expression from given keys_ and measured_, used in load
/// Needed to deserialize a derived factor
virtual Expression<T> expression(Key key1, Key key2) const {
throw std::runtime_error(
"ExpressionFactor2::expression not provided: cannot deserialize.");
}
virtual Expression<T>
expression(const typename ExpressionFactorN<T, A1, A2>::ArrayNKeys &keys)
const override {
return expression(keys[0], keys[1]);
}
protected:
/// Default constructor, for serialization
ExpressionFactor2() {}
/// Constructor takes care of keys, but still need to call initialize
ExpressionFactor2(Key key1, Key key2, const SharedNoiseModel &noiseModel,
const T &measurement)
: ExpressionFactorN<T, A1, A2>({key1, key2}, noiseModel, measurement) {}
};
// ExpressionFactor2
#endif
} // namespace gtsam } // namespace gtsam