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added erase method

release/4.3a0
Kai Ni 2010-03-04 23:39:36 +00:00
parent d6c2b415a5
commit d0d2aa8aee
2 changed files with 21 additions and 0 deletions
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3
cpp/GaussianFactor.h
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@ -118,6 +118,9 @@ public:
return As_.at(key);
}
/** erase the A associated with the input key */
size_t erase_A(const Symbol& key) { return As_.erase(key); }
/** operator[] syntax for get */
inline const Matrix& operator[](const Symbol& name) const {
return get_A(name);

18
cpp/testGaussianFactor.cpp
View File

@ -803,6 +803,24 @@ TEST ( GaussianFactor, exploding_MAST_factor ) {
CHECK(true);
}
/* ************************************************************************* */
TEST( GaussianFactor, erase)
{
Vector b = Vector_(3, 1., 2., 3.);
SharedDiagonal noise = noiseModel::Diagonal::Sigmas(Vector_(3,1.,1.,1.));
Symbol x0('x',0), x1('x',1);
std::list<std::pair<Symbol, Matrix> > terms;
terms.push_back(make_pair(x0, eye(2)));
terms.push_back(make_pair(x1, 2.*eye(2)));
GaussianFactor actual(terms, b, noise);
int erased = actual.erase_A(x0);
LONGS_EQUAL(1, erased);
GaussianFactor expected(x1, 2.*eye(2), b, noise);
CHECK(assert_equal(expected, actual));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}