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Fixed the Eigen::Map compilation error

release/4.3a0
Paul Furgale 2014-12-15 11:13:42 +01:00
parent 0857c1069c
commit cb7fb21add
2 changed files with 10 additions and 8 deletions
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11
gtsam/base/concepts.h
View File

@ -363,9 +363,11 @@ struct traits_x<float> : public internal::ScalarTraits<float> {};
// traits for any double Eigen matrix // traits for any double Eigen matrix
template<int M, int N, int Options, int MaxRows, int MaxCols> template<int M, int N, int Options, int MaxRows, int MaxCols>
struct traits_x< Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> > { struct traits_x< Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> > {
BOOST_STATIC_ASSERT_MSG(M != Eigen::Dynamic && N != Eigen::Dynamic,
"This traits class only supports fixed-size matrices.");
// Typedefs required by all manifold types. // Typedefs required by all manifold types.
typedef vector_space_tag structure_category; typedef vector_space_tag structure_category;
enum { dimension = (M == Eigen::Dynamic ? Eigen::Dynamic : (N == Eigen::Dynamic ? Eigen::Dynamic : M * N)) }; enum { dimension = M * N };
typedef Eigen::Matrix<double, dimension, 1> TangentVector; typedef Eigen::Matrix<double, dimension, 1> TangentVector;
typedef OptionalJacobian<dimension, dimension> ChartJacobian; typedef OptionalJacobian<dimension, dimension> ChartJacobian;
typedef Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> ManifoldType; typedef Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> ManifoldType;
@ -405,8 +407,7 @@ struct traits_x< Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> > {
ChartJacobian Hv = boost::none) { ChartJacobian Hv = boost::none) {
if (Horigin) *Horigin = Eye(origin); if (Horigin) *Horigin = Eye(origin);
if (Hv) *Hv = Eye(origin); if (Hv) *Hv = Eye(origin);
return origin + return origin + Eigen::Map<const Eigen::Matrix<double, M, N> >(v.data(), origin.rows(), origin.cols());
Eigen::Map<Eigen::Matrix<double, M, N> >(v.data(), origin.rows(), origin.cols());
} }
static ManifoldType Compose(const ManifoldType& m1, static ManifoldType Compose(const ManifoldType& m1,
@ -444,7 +445,7 @@ struct traits_x< Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> > {
if (Hm) *Hm = Eye(m); if (Hm) *Hm = Eye(m);
TangentVector result(GetDimension(m)); TangentVector result(GetDimension(m));
Eigen::Map<Eigen::Matrix<double, M, N> >( Eigen::Map<Eigen::Matrix<double, M, N> >(
result.data(), m.rows(), m.cols()) = m; result.data()) = m;
return result; return result;
} }
@ -453,7 +454,7 @@ struct traits_x< Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> > {
ManifoldType m; m.setZero(); ManifoldType m; m.setZero();
if (Hv) *Hv = Eye(m); if (Hv) *Hv = Eye(m);
return m + return m +
Eigen::Map<Eigen::Matrix<double, M, N> >(v.data(), m.rows(), m.cols()); Eigen::Map<Eigen::Matrix<double, M, N> >(v.data());
} }
}; };

7
gtsam/base/numericalDerivative.h
View File

@ -70,7 +70,7 @@ Vector numericalGradient(boost::function<double(const X&)> h, const X& x,
double factor = 1.0 / (2.0 * delta); double factor = 1.0 / (2.0 * delta);
BOOST_STATIC_ASSERT_MSG( BOOST_STATIC_ASSERT_MSG(
(boost::is_base_of<manifold_tag, typename traits_x<X>::structure_category_tag>::value), (boost::is_base_of<manifold_tag, typename traits_x<X>::structure_category>::value),
"Template argument X must be a manifold type."); "Template argument X must be a manifold type.");
static const int N = traits_x<X>::dimension; static const int N = traits_x<X>::dimension;
BOOST_STATIC_ASSERT_MSG(N>0, "Template argument X must be fixed-size type."); BOOST_STATIC_ASSERT_MSG(N>0, "Template argument X must be fixed-size type.");
@ -300,10 +300,11 @@ inline Matrix numericalHessian(boost::function<double(const X&)> f, const X& x,
double delta = 1e-5) { double delta = 1e-5) {
BOOST_STATIC_ASSERT_MSG( (boost::is_base_of<gtsam::manifold_tag, typename traits_x<X>::structure_category>::value), BOOST_STATIC_ASSERT_MSG( (boost::is_base_of<gtsam::manifold_tag, typename traits_x<X>::structure_category>::value),
"Template argument X must be a manifold type."); "Template argument X must be a manifold type.");
typedef Eigen::Matrix<double, traits_x<X>::dimension, 1> VectorD;
typedef boost::function<double(const X&)> F; typedef boost::function<double(const X&)> F;
typedef boost::function<Vector(F, const X&, double)> G; typedef boost::function<VectorD(F, const X&, double)> G;
G ng = static_cast<G>(numericalGradient<X> ); G ng = static_cast<G>(numericalGradient<X> );
return numericalDerivative11<Vector, X>(boost::bind(ng, f, _1, delta), x, return numericalDerivative11<VectorD, X>(boost::bind(ng, f, _1, delta), x,
delta); delta);
} }