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TypedLabeledSymbols now convert properly to Symbols, so they can be used to add a runtime label to a TypedKey to express "Pose 1 of robot A"

release/4.3a0
Alex Cunningham 2010-02-10 14:39:58 +00:00
parent 31999ecb1f
commit d0aed559b5
2 changed files with 23 additions and 21 deletions
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14
cpp/Key.h
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@ -111,13 +111,13 @@ namespace gtsam {
/** /**
* Encoding two numbers into a single size_t for conversion to Symbol * Encoding two numbers into a single size_t for conversion to Symbol
* Stores the label in the upper bits of the index * Stores the label in the upper bytes of the index
*
* STILL IN TESTING - DO NOT USE!!
*/ */
size_t encode() { size_t encode() const {
//short label = label_; short label = (short) label_; //bound size of label to 2 bytes
return this->j_; // + (label << 32); size_t shift = (sizeof(size_t)-sizeof(short)) * 8;
size_t modifier = ((size_t) label) << shift;
return this->j_ + modifier;
} }
@ -184,7 +184,7 @@ namespace gtsam {
/** Casting constructor from TypedLabeledSymbol */ /** Casting constructor from TypedLabeledSymbol */
template<class T, char C, typename L> template<class T, char C, typename L>
Symbol(const TypedLabeledSymbol<T,C, L>& symbol): c_(C), j_(symbol.encode()) {} Symbol(const TypedLabeledSymbol<T,C,L>& symbol): c_(C), j_(symbol.encode()) {}
/** "Magic" key casting constructor from string */ /** "Magic" key casting constructor from string */
#ifdef GTSAM_MAGIC_KEY #ifdef GTSAM_MAGIC_KEY

30
cpp/testKey.cpp
View File

@ -54,27 +54,29 @@ TEST ( TypedLabledSymbol, basic_operations ) {
CHECK(key5 < key6); CHECK(key5 < key6);
} }
/* ************************************************************************* * /* ************************************************************************* */
TEST ( TypedLabledSymbol, encoding ) { TEST ( TypedLabledSymbol, encoding ) {
typedef TypedLabeledSymbol<Pose3, 'x', char> RobotKey; typedef TypedLabeledSymbol<Pose3, 'x', char> RobotKey;
cout << "short : " << sizeof(short) << " size_t: " << sizeof(size_t) << endl;
cout << "unsigned int : " << sizeof(unsigned int) << endl;
RobotKey key1(37, 'A'); RobotKey key1(37, 'A');
size_t index = key1.index(); // Note: calculations done in test due to possible differences between machines
size_t modifier = 65; // take the upper two bytes for the label
modifier = modifier << sizeof(size_t) * 4; short label = key1.label();
index += modifier;
cout << "index: " << index << " modifier: " << modifier << endl;
// find the shift necessary
size_t shift = (sizeof(size_t)-sizeof(short)) * 8;
size_t modifier = label;
modifier = modifier << shift;
size_t index = key1.index() + modifier;
// short encoded = 65; // check index encoding
// size_t modifier = encoded << 32; Symbol act1(key1), exp('x', index);
// size_t index = 37 + encoded; CHECK(assert_equal(exp, act1));
// Symbol act(key1), exp('x', index);
// CHECK(assert_equal(exp, act)); // check casting
Symbol act2 = (Symbol) key1;
CHECK(assert_equal(exp, act2));
} }