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Improved serialization for noisemodel and NonlinearFactors, however currently fails on NonlinearFactorGraphs and some factors

release/4.3a0
Alex Cunningham 2011-02-23 20:31:19 +00:00
parent 4865f1a64d
commit cee6b4523e
11 changed files with 467 additions and 241 deletions
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.cproject
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@ -322,14 +322,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -356,6 +348,7 @@
</target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -363,6 +356,7 @@
</target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -410,6 +404,7 @@
</target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -417,6 +412,7 @@
</target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -424,6 +420,7 @@
</target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -439,11 +436,20 @@
</target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
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<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
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<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -478,7 +484,6 @@
</target>
<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -574,7 +579,6 @@
</target>
<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testInference.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -582,7 +586,6 @@
</target>
<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -590,7 +593,6 @@
</target>
<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -598,7 +600,6 @@
</target>
<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -606,7 +607,6 @@
</target>
<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -614,7 +614,6 @@
</target>
<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -684,6 +683,14 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testPlanarSLAM.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>tests/testPlanarSLAM.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -966,6 +973,7 @@
</target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1325,7 +1333,6 @@
</target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1365,7 +1372,6 @@
</target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1373,7 +1379,6 @@
</target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1461,7 +1466,6 @@
</target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1483,6 +1487,86 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>dist</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testEliminationTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testVariableIndex</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -1579,94 +1663,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
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</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
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</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
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</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testEliminationTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testVariableIndex</buildTarget>
<stopOnError>true</stopOnError>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
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<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -1699,6 +1695,14 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
</buildTargets>
</storageModule>
</cconfiguration>
@ -2021,14 +2025,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -2055,6 +2051,7 @@
</target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2062,6 +2059,7 @@
</target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2109,6 +2107,7 @@
</target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2116,6 +2115,7 @@
</target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2123,6 +2123,7 @@
</target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2138,11 +2139,20 @@
</target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
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</target>
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<buildArguments>-j2</buildArguments>
@ -2177,7 +2187,6 @@
</target>
<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2273,7 +2282,6 @@
</target>
<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
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<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2281,7 +2289,6 @@
</target>
<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2289,7 +2296,6 @@
</target>
<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2297,7 +2303,6 @@
</target>
<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
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<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2305,7 +2310,6 @@
</target>
<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2313,7 +2317,6 @@
</target>
<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2383,6 +2386,14 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testPlanarSLAM.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>tests/testPlanarSLAM.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -2665,6 +2676,7 @@
</target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -3024,7 +3036,6 @@
</target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -3064,7 +3075,6 @@
</target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -3072,7 +3082,6 @@
</target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -3160,7 +3169,6 @@
</target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -3182,6 +3190,86 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>dist</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testEliminationTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testVariableIndex</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -3278,94 +3366,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>install</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>dist</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testEliminationTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testVariableIndex</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>inference/tests/testJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -3398,6 +3398,14 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
</buildTargets>
</storageModule>
</cconfiguration>

11
gtsam/linear/NoiseModel.h
View File

@ -30,6 +30,12 @@ namespace gtsam {
namespace noiseModel {
class Gaussian;
class Diagonal;
class Constrained;
class Isotropic;
class Unit;
/**
* noiseModel::Base is the abstract base class for all noise models.
*
@ -389,6 +395,9 @@ namespace gtsam {
public:
/* dummy constructor to allow for serialization */
Isotropic() : Diagonal(repeat(1, 1.0)),sigma_(1.0),invsigma_(1.0) {}
typedef boost::shared_ptr<Isotropic> shared_ptr;
/**
@ -447,7 +456,7 @@ namespace gtsam {
class Unit : public Isotropic {
protected:
Unit(size_t dim): Isotropic(dim,1.0) {}
Unit(size_t dim=1): Isotropic(dim,1.0) {}
public:

6
gtsam/linear/SharedGaussian.h
View File

@ -70,6 +70,12 @@ namespace gtsam { // note, deliberately not in noiseModel namespace
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
// apparently requires that subclasses be registered?
ar.template register_type<noiseModel::Gaussian>();
ar.template register_type<noiseModel::Diagonal>();
ar.template register_type<noiseModel::Constrained>();
ar.template register_type<noiseModel::Isotropic>();
ar.template register_type<noiseModel::Unit>();
ar & boost::serialization::make_nvp("SharedGaussian",
boost::serialization::base_object<noiseModel::Gaussian::shared_ptr >(*this));
}

16
gtsam/nonlinear/NonlinearEquality.h
View File

@ -67,6 +67,9 @@ namespace gtsam {
typedef NonlinearFactor1<VALUES, KEY> Base;
/** default constructor - only for serialization */
NonlinearEquality() {}
/**
* Constructor - forces exact evaluation
*/
@ -134,6 +137,19 @@ namespace gtsam {
return JacobianFactor::shared_ptr(new JacobianFactor(ordering[this->key_], A, b, model));
}
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("NonlinearFactor1",
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(feasible_);
ar & BOOST_SERIALIZATION_NVP(allow_error_);
ar & BOOST_SERIALIZATION_NVP(error_gain_);
}
}; // NonlinearEquality
} // namespace gtsam

23
gtsam/slam/BearingFactor.h
View File

@ -32,11 +32,15 @@ namespace gtsam {
Rot2 z_; /** measurement */
typedef BearingFactor<VALUES, POSEKEY, POINTKEY> This;
typedef NonlinearFactor2<VALUES, POSEKEY, POINTKEY> Base;
public:
BearingFactor(); /* Default constructor */
/** default constructor for serialization/testing only */
BearingFactor() {}
/** primary constructor */
BearingFactor(const POSEKEY& i, const POINTKEY& j, const Rot2& z,
const SharedGaussian& model) :
Base(model, i, j), z_(z) {
@ -54,6 +58,23 @@ namespace gtsam {
return z_;
}
/** equals */
virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol=1e-9) const {
const This *e = dynamic_cast<const This*> (&expected);
return e != NULL && Base::equals(*e, tol) && this->z_.equals(e->z_, tol);
}
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("NonlinearFactor2",
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(z_);
}
}; // BearingFactor
} // namespace gtsam

23
gtsam/slam/BearingRangeFactor.h
View File

@ -35,11 +35,12 @@ namespace gtsam {
Rot2 bearing_;
double range_;
typedef BearingRangeFactor<VALUES, POSEKEY, POINTKEY> This;
typedef NonlinearFactor2<VALUES, POSEKEY, POINTKEY> Base;
public:
BearingRangeFactor(); /* Default constructor */
BearingRangeFactor() {} /* Default constructor */
BearingRangeFactor(const POSEKEY& i, const POINTKEY& j, const Rot2& bearing, const double range,
const SharedGaussian& model) :
Base(model, i, j), bearing_(bearing), range_(range) {
@ -69,6 +70,26 @@ namespace gtsam {
inline const std::pair<Rot2, double> measured() const {
return std::make_pair(bearing_, range_);
}
/** equals */
virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol=1e-9) const {
const This *e = dynamic_cast<const This*> (&expected);
return e != NULL && Base::equals(*e, tol) &&
fabs(this->range_ - e->range_) < tol &&
this->bearing_.equals(e->bearing_, tol);
}
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("NonlinearFactor2",
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(bearing_);
ar & BOOST_SERIALIZATION_NVP(range_);
}
}; // BearingRangeFactor
} // namespace gtsam

20
gtsam/slam/BetweenFactor.h
View File

@ -38,6 +38,7 @@ namespace gtsam {
private:
typedef BetweenFactor<VALUES, KEY1, KEY2> This;
typedef NonlinearFactor2<VALUES, KEY1, KEY2> Base;
T measured_; /** The measurement */
@ -47,6 +48,9 @@ namespace gtsam {
// shorthand for a smart pointer to a factor
typedef typename boost::shared_ptr<BetweenFactor> shared_ptr;
/** default constructor - only use for serialization */
BetweenFactor() {}
/** Constructor */
BetweenFactor(const KEY1& key1, const KEY2& key2, const T& measured,
const SharedGaussian& model) :
@ -62,9 +66,8 @@ namespace gtsam {
}
/** equals */
virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol) const {
const BetweenFactor<VALUES, KEY1, KEY2> *e =
dynamic_cast<const BetweenFactor<VALUES, KEY1, KEY2>*> (&expected);
virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol=1e-9) const {
const This *e = dynamic_cast<const This*> (&expected);
return e != NULL && Base::equals(*e, tol) && this->measured_.equals(e->measured_, tol);
}
@ -87,6 +90,17 @@ namespace gtsam {
inline std::size_t size() const {
return 2;
}
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("NonlinearFactor2",
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(measured_);
}
};
} /// namespace gtsam

16
gtsam/slam/PriorFactor.h
View File

@ -48,6 +48,9 @@ namespace gtsam {
// shorthand for a smart pointer to a factor
typedef typename boost::shared_ptr<PriorFactor> shared_ptr;
/** default constructor - only use for serialization */
PriorFactor() {}
/** Constructor */
PriorFactor(const KEY& key, const T& prior,
const SharedGaussian& model) :
@ -63,7 +66,7 @@ namespace gtsam {
}
/** equals */
virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol) const {
virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol=1e-9) const {
const PriorFactor<VALUES, KEY> *e = dynamic_cast<const PriorFactor<
VALUES, KEY>*> (&expected);
return e != NULL && Base::equals(*e, tol) && this->prior_.equals(e->prior_, tol);
@ -77,6 +80,17 @@ namespace gtsam {
// manifold equivalent of h(x)-z -> log(z,h(x))
return prior_.logmap(p);
}
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("NonlinearFactor1",
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(prior_);
}
};
} /// namespace gtsam

28
gtsam/slam/RangeFactor.h
View File

@ -25,19 +25,20 @@ namespace gtsam {
/**
* Binary factor for a range measurement
*/
template<class Values, class PoseKey, class PointKey>
class RangeFactor: public NonlinearFactor2<Values, PoseKey, PointKey> {
template<class VALUES, class POSEKEY, class POINTKEY>
class RangeFactor: public NonlinearFactor2<VALUES, POSEKEY, POINTKEY> {
private:
double z_; /** measurement */
typedef NonlinearFactor2<Values, PoseKey, PointKey> Base;
typedef RangeFactor<VALUES, POSEKEY, POINTKEY> This;
typedef NonlinearFactor2<VALUES, POSEKEY, POINTKEY> Base;
public:
RangeFactor(); /* Default constructor */
RangeFactor() {} /* Default constructor */
RangeFactor(const PoseKey& i, const PointKey& j, double z,
RangeFactor(const POSEKEY& i, const POINTKEY& j, double z,
const SharedGaussian& model) :
Base(model, i, j), z_(z) {
}
@ -53,6 +54,23 @@ namespace gtsam {
inline double measured() const {
return z_;
}
/** equals specialized to this factor */
virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol=1e-9) const {
const This *e = dynamic_cast<const This*> (&expected);
return e != NULL && Base::equals(*e, tol) && fabs(this->z_ - e->z_) < tol;
}
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("NonlinearFactor2",
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(z_);
}
}; // RangeFactor
} // namespace gtsam

58
gtsam/slam/tests/testPlanarSLAM.cpp
View File

@ -17,6 +17,7 @@
#include <iostream>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/slam/planarSLAM.h>
#include <gtsam/slam/BearingRangeFactor.h>
@ -32,6 +33,15 @@ SharedGaussian
sigma2(noiseModel::Isotropic::Sigma(2,0.1)),
I3(noiseModel::Unit::Create(3));
/* ************************************************************************* */
TEST( planarSLAM, PriorFactor_equals )
{
planarSLAM::Prior factor1(2, x1, I3), factor2(2, x2, I3);
EXPECT(assert_equal(factor1, factor1, 1e-5));
EXPECT(assert_equal(factor2, factor2, 1e-5));
EXPECT(assert_inequal(factor1, factor2, 1e-5));
}
/* ************************************************************************* */
TEST( planarSLAM, BearingFactor )
{
@ -46,7 +56,18 @@ TEST( planarSLAM, BearingFactor )
// Check error
Vector actual = factor.unwhitenedError(c);
CHECK(assert_equal(Vector_(1,-0.1),actual));
EXPECT(assert_equal(Vector_(1,-0.1),actual));
}
/* ************************************************************************* */
TEST( planarSLAM, BearingFactor_equals )
{
planarSLAM::Bearing
factor1(2, 3, Rot2::fromAngle(0.1), sigma),
factor2(2, 3, Rot2::fromAngle(2.3), sigma);
EXPECT(assert_equal(factor1, factor1, 1e-5));
EXPECT(assert_equal(factor2, factor2, 1e-5));
EXPECT(assert_inequal(factor1, factor2, 1e-5));
}
/* ************************************************************************* */
@ -63,7 +84,16 @@ TEST( planarSLAM, RangeFactor )
// Check error
Vector actual = factor.unwhitenedError(c);
CHECK(assert_equal(Vector_(1,0.22),actual));
EXPECT(assert_equal(Vector_(1,0.22),actual));
}
/* ************************************************************************* */
TEST( planarSLAM, RangeFactor_equals )
{
planarSLAM::Range factor1(2, 3, 1.2, sigma), factor2(2, 3, 7.2, sigma);
EXPECT(assert_equal(factor1, factor1, 1e-5));
EXPECT(assert_equal(factor2, factor2, 1e-5));
EXPECT(assert_inequal(factor1, factor2, 1e-5));
}
/* ************************************************************************* */
@ -81,7 +111,27 @@ TEST( planarSLAM, BearingRangeFactor )
// Check error
Vector actual = factor.unwhitenedError(c);
CHECK(assert_equal(Vector_(2,-0.1, 0.22),actual));
EXPECT(assert_equal(Vector_(2,-0.1, 0.22),actual));
}
/* ************************************************************************* */
TEST( planarSLAM, BearingRangeFactor_equals )
{
planarSLAM::BearingRange
factor1(2, 3, Rot2::fromAngle(0.1), 7.3, sigma2),
factor2(2, 3, Rot2::fromAngle(3), 2.0, sigma2);
EXPECT(assert_equal(factor1, factor1, 1e-5));
EXPECT(assert_equal(factor2, factor2, 1e-5));
EXPECT(assert_inequal(factor1, factor2, 1e-5));
}
/* ************************************************************************* */
TEST( planarSLAM, PoseConstraint_equals )
{
planarSLAM::Constraint factor1(2, x2), factor2(2, x3);
EXPECT(assert_equal(factor1, factor1, 1e-5));
EXPECT(assert_equal(factor2, factor2, 1e-5));
EXPECT(assert_inequal(factor1, factor2, 1e-5));
}
/* ************************************************************************* */
@ -111,7 +161,7 @@ TEST( planarSLAM, constructor )
G.addRange(2, 3, z2, sigma);
Vector expected = Vector_(8, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1, 0.22);
CHECK(assert_equal(expected,G.unwhitenedError(c)));
EXPECT(assert_equal(expected,G.unwhitenedError(c)));
}
/* ************************************************************************* */

71
tests/testSerialization.cpp
View File

@ -147,6 +147,7 @@ bool equalsDereferencedXML(const T& input = T()) {
//#include <gtsam/inference/SymbolicConditional.h>
#include <gtsam/slam/planarSLAM.h>
#include <gtsam/slam/BearingFactor.h>
#include <CppUnitLite/TestHarness.h>
@ -177,7 +178,6 @@ TEST (Serialization, xml_geometry) {
EXPECT(equalsXML<gtsam::Point3>(pt3));
EXPECT(equalsXML<gtsam::Rot3>(rt3));
EXPECT(equalsXML<gtsam::Pose3>(Pose3(rt3, pt3)));
}
/* ************************************************************************* */
@ -195,16 +195,44 @@ TEST (Serialization, xml_linear) {
}
/* ************************************************************************* */
TEST (Serialization, noiseModels) {
TEST (Serialization, Shared_noiseModels) {
SharedDiagonal diag3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3));
SharedGaussian model3 = noiseModel::Isotropic::Sigma(3, 0.3);
SharedGaussian iso3 = noiseModel::Isotropic::Sigma(3, 0.3);
SharedGaussian gaussian3 = noiseModel::Gaussian::SqrtInformation(eye(3,3));
EXPECT(equalsDereferenced<SharedDiagonal>(diag3));
EXPECT(equalsDereferencedXML<SharedDiagonal>(diag3));
// FAIL: Segfaults
// EXPECT(equalsDereferenced<SharedGaussian>(model3));
// EXPECT(equalsDereferencedXML<SharedGaussian>(model3));
EXPECT(equalsDereferenced<SharedGaussian>(iso3));
EXPECT(equalsDereferencedXML<SharedGaussian>(iso3));
EXPECT(equalsDereferenced<SharedGaussian>(gaussian3));
EXPECT(equalsDereferencedXML<SharedGaussian>(gaussian3));
}
/* ************************************************************************* */
TEST (Serialization, noiseModels) {
noiseModel::Diagonal::shared_ptr diag3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3));
noiseModel::Gaussian::shared_ptr gaussian3 = noiseModel::Gaussian::SqrtInformation(2.0 * eye(3,3));
noiseModel::Isotropic::shared_ptr iso3 = noiseModel::Isotropic::Sigma(3, 0.2);
noiseModel::Constrained::shared_ptr constrained3 = noiseModel::Constrained::All(3);
noiseModel::Unit::shared_ptr unit3 = noiseModel::Unit::Create(3);
EXPECT( equalsDereferenced<noiseModel::Diagonal::shared_ptr>(diag3));
EXPECT(equalsDereferencedXML<noiseModel::Diagonal::shared_ptr>(diag3));
EXPECT( equalsDereferenced<noiseModel::Gaussian::shared_ptr>(gaussian3));
EXPECT(equalsDereferencedXML<noiseModel::Gaussian::shared_ptr>(gaussian3));
EXPECT( equalsDereferenced<noiseModel::Isotropic::shared_ptr>(iso3));
EXPECT(equalsDereferencedXML<noiseModel::Isotropic::shared_ptr>(iso3));
// FAIL: stream error
// EXPECT( equalsDereferenced<noiseModel::Constrained::shared_ptr>(constrained3));
// EXPECT(equalsDereferencedXML<noiseModel::Constrained::shared_ptr>(constrained3));
EXPECT( equalsDereferenced<noiseModel::Unit::shared_ptr>(unit3));
EXPECT(equalsDereferencedXML<noiseModel::Unit::shared_ptr>(unit3));
}
/* ************************************************************************* */
@ -218,22 +246,43 @@ TEST (Serialization, planar_system) {
SharedGaussian model1 = noiseModel::Isotropic::Sigma(1, 0.3);
SharedGaussian model2 = noiseModel::Isotropic::Sigma(2, 0.3);
SharedGaussian model3 = noiseModel::Isotropic::Sigma(3, 0.3);
Graph graph;
graph.addBearing(PoseKey(3), PointKey(5), Rot2::fromDegrees(0.5), model1);
graph.addRange(PoseKey(2), PointKey(9), 7.0, model1);
graph.addBearingRange(PoseKey(2), PointKey(3), Rot2::fromDegrees(0.6), 2.0, model2);
graph.addOdometry(PoseKey(2), PoseKey(3), Pose2(1.0, 2.0, 0.3), model3);
Prior prior(PoseKey(3), Pose2(0.1,-0.3, 0.2), model1);
graph.add(prior);
Bearing bearing(PoseKey(3), PointKey(5), Rot2::fromDegrees(0.5), model1);
graph.add(bearing);
Range range(PoseKey(2), PointKey(9), 7.0, model1);
graph.add(range);
BearingRange bearingRange(PoseKey(2), PointKey(3), Rot2::fromDegrees(0.6), 2.0, model2);
graph.add(bearingRange);
Odometry odometry(PoseKey(2), PoseKey(3), Pose2(1.0, 2.0, 0.3), model3);
graph.add(odometry);
Constraint constraint(PoseKey(9), Pose2(2.0,-1.0, 0.2));
graph.add(constraint);
// text
EXPECT(equalsObj<PoseKey>(PoseKey(2)));
EXPECT(equalsObj<PointKey>(PointKey(3)));
EXPECT(equalsObj<Values>(values));
// EXPECT(equalsObj<Graph>(graph));
EXPECT(equalsObj<Prior>(prior));
EXPECT(equalsObj<Bearing>(bearing));
EXPECT(equalsObj<BearingRange>(bearingRange));
EXPECT(equalsObj<Range>(range));
EXPECT(equalsObj<Odometry>(odometry));
// EXPECT(equalsObj<Constraint>(constraint)); // FAIL: stream error
// EXPECT(equalsObj<Graph>(graph)); // FAIL: segfaults if there are factors
// xml
EXPECT(equalsXML<PoseKey>(PoseKey(2)));
EXPECT(equalsXML<PointKey>(PointKey(3)));
EXPECT(equalsXML<Values>(values));
EXPECT(equalsXML<Prior>(prior));
EXPECT(equalsXML<Bearing>(bearing));
EXPECT(equalsXML<BearingRange>(bearingRange));
EXPECT(equalsXML<Range>(range));
EXPECT(equalsXML<Odometry>(odometry));
// EXPECT(equalsXML<Constraint>(constraint)); // FAIL: stream error
// EXPECT(equalsXML<Graph>(graph));
}