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Use handy dandy Factor Factory

release/4.3a0
dellaert 2014-12-11 13:19:37 +01:00
parent 29dc382c22
commit cedf2647d2
1 changed files with 12 additions and 9 deletions
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21
gtsam_unstable/slam/tests/testTOAFactor.cpp
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@ -17,7 +17,8 @@
* @date December 2014 * @date December 2014
*/ */
#include <gtsam_unstable/slam/TOAFactor.h> #include <gtsam_unstable/geometry/Event.h>
#include <gtsam_unstable/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
@ -39,13 +40,16 @@ static const double timeOfEvent = 25;
static const Event exampleEvent(timeOfEvent, 1, 0, 0); static const Event exampleEvent(timeOfEvent, 1, 0, 0);
static const Point3 microphoneAt0; static const Point3 microphoneAt0;
// A TOA factor factory :-)
MakeBinaryFactor<double, Event, Point3> makeFactor(&Event::toa, model);
//***************************************************************************** //*****************************************************************************
TEST( TOAFactor, Construct ) { TEST( TOAFactor, NewWay ) {
Key key = 12; Key key = 12;
Expression<Event> eventExpression(key); Expression<Event> eventExpression(key);
Expression<Point3> knownMicrophone_(microphoneAt0); // constant expression Expression<Point3> microphoneConstant(microphoneAt0); // constant expression
double measurement = 7; double z = 7;
TOAFactor factor(eventExpression, knownMicrophone_, measurement, model); ExpressionFactor<double> factor = makeFactor(z, eventExpression, microphoneConstant);
} }
//***************************************************************************** //*****************************************************************************
@ -83,9 +87,8 @@ TEST( TOAFactor, WholeEnchilada ) {
Key key = 12; Key key = 12;
Expression<Event> eventExpression(key); Expression<Event> eventExpression(key);
for (size_t i = 0; i < K; i++) { for (size_t i = 0; i < K; i++) {
Expression<Point3> knownMicrophone_(microphones[i]); // constant expression Expression<Point3> microphoneConstant(microphones[i]); // constant expression
graph.add( graph.add(makeFactor(measurements[i], eventExpression, microphoneConstant));
TOAFactor(eventExpression, knownMicrophone_, measurements[i], model));
} }
/// Print the graph /// Print the graph
@ -167,7 +170,7 @@ TEST( TOAFactor, RealExperiment1 ) {
for (size_t i = 0; i < 4; i++) { for (size_t i = 0; i < 4; i++) {
Expression<Point3> mic_(microphones[i]); // constant expression Expression<Point3> mic_(microphones[i]); // constant expression
for (size_t j = 0; j < 15; j++) for (size_t j = 0; j < 15; j++)
graph.add(TOAFactor(eventExpressions[j], mic_, data[j][i], model)); graph.add(makeFactor(data[j][i], eventExpressions[j], mic_));
} }
/// Print the graph /// Print the graph