12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

test compiling!! but 34 tests failed out of 198

release/4.3a0
Mike Bosse 2014-12-20 20:36:54 +01:00
parent b7204b100d
commit d0e1c1a770
3 changed files with 8 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
gtsam_unstable/nonlinear/ExpressionFactor.h
View File

@ -36,7 +36,7 @@ class ExpressionFactor: public NoiseModelFactor {
Expression<T> expression_; ///< the expression that is AD enabled Expression<T> expression_; ///< the expression that is AD enabled
FastVector<int> dims_; ///< dimensions of the Jacobian matrices FastVector<int> dims_; ///< dimensions of the Jacobian matrices
static const int Dim = traits::dimension<T>::value; static const int Dim = traits_x<T>::dimension;
public: public:
@ -63,13 +63,12 @@ public:
*/ */
virtual Vector unwhitenedError(const Values& x, virtual Vector unwhitenedError(const Values& x,
boost::optional<std::vector<Matrix>&> H = boost::none) const { boost::optional<std::vector<Matrix>&> H = boost::none) const {
DefaultChart<T> chart;
if (H) { if (H) {
const T value = expression_.value(x, keys_, dims_, *H); const T value = expression_.value(x, keys_, dims_, *H);
return chart.local(measurement_, value); return traits_x<T>::Local(measurement_, value);
} else { } else {
const T value = expression_.value(x); const T value = expression_.value(x);
return chart.local(measurement_, value); return traits_x<T>::Local(measurement_, value);
} }
} }
@ -97,8 +96,7 @@ public:
T value = expression_.value(x, jacobianMap); // <<< Reverse AD happens here ! T value = expression_.value(x, jacobianMap); // <<< Reverse AD happens here !
// Evaluate error and set RHS vector b // Evaluate error and set RHS vector b
DefaultChart<T> chart; Ab(size()).col(0) = -traits_x<T>::Local(measurement_, value);
Ab(size()).col(0) = -chart.local(measurement_, value);
// Whiten the corresponding system, Ab already contains RHS // Whiten the corresponding system, Ab already contains RHS
Vector dummy(Dim); Vector dummy(Dim);

2
gtsam_unstable/nonlinear/expressionTesting.h
View File

@ -107,7 +107,7 @@ void testExpressionJacobians(TestResult& result_, const std::string& name_,
const gtsam::Expression<T>& expression, const gtsam::Values& values, const gtsam::Expression<T>& expression, const gtsam::Values& values,
double nd_step, double tolerance) { double nd_step, double tolerance) {
// Create factor // Create factor
size_t size = traits::dimension<T>::value; size_t size = traits_x<T>::dimension;
ExpressionFactor<T> f(noiseModel::Unit::Create(size), ExpressionFactor<T> f(noiseModel::Unit::Create(size),
expression.value(values), expression); expression.value(values), expression);
testFactorJacobians(result_, name_, f, values, nd_step, tolerance); testFactorJacobians(result_, name_, f, values, nd_step, tolerance);

4
gtsam_unstable/slam/SmartStereoProjectionFactor.h
View File

@ -107,7 +107,7 @@ protected:
/// shorthand for this class /// shorthand for this class
typedef SmartStereoProjectionFactor<POSE, LANDMARK, CALIBRATION, D> This; typedef SmartStereoProjectionFactor<POSE, LANDMARK, CALIBRATION, D> This;
typedef traits::dimension<gtsam::StereoPoint2> ZDim_t; ///< Dimension trait of measurement type enum {ZDim = traits_x<gtsam::StereoPoint2>::dimension}; ///< Dimension trait of measurement type
public: public:
@ -482,7 +482,7 @@ public:
if (triangulateForLinearize(cameras)) if (triangulateForLinearize(cameras))
return Base::createJacobianSVDFactor(cameras, point_, lambda); return Base::createJacobianSVDFactor(cameras, point_, lambda);
else else
return boost::make_shared< JacobianFactorSVD<D, ZDim_t::value> >(this->keys_); return boost::make_shared< JacobianFactorSVD<D, ZDim> >(this->keys_);
} }
/// Returns true if nonDegenerate /// Returns true if nonDegenerate