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

Rename, removed old code

release/4.3a0
dellaert 2014-11-27 22:06:02 +01:00
parent 949c793e23
commit d1c94f095b
1 changed files with 5 additions and 122 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

127
gtsam/geometry/tests/testCal3DS2.cpp
View File

@ -94,138 +94,21 @@ TEST( Cal3DS2, retract)
}
/* ************************************************************************* */
// Test Eigen::Ref
//TEST( Cal3DS2, Ref) {
// // In this case we don't want a copy
// Matrix25 fixedDcal;
// Eigen::Ref<Matrix25> test1(fixedDcal);
// cout << test1 << endl;
// test1.resize(2, 5);
// test1 = Matrix25::Zero();
// cout << test1 << endl;
//
// // In this case we want dynamic1 to be correctly allocate and filled
// Matrix dynamic1(2,5);
// Eigen::Ref<Matrix25> test2(dynamic1);
// cout << test2.rows() << "," << test2.cols() << endl;
// test2.resize(2, 5);
// test2 = Matrix25::Zero();
// cout << test2 << endl;
//}
//void test(Eigen::Ref<Matrix25> H) {
// cout << "test" << endl;
// cout << H.size() << endl;
// cout << H.rows() << "," << H.cols() << endl;
// if (H.size()) {
// cout << "H before:\n" << H << endl;
// H.resize(2, 5);
// H = Matrix25::Zero();
// cout << "H after:\n" << H << endl;
// }
//}
//
//TEST( Cal3DS2, Ref) {
//
// // In this case we don't want anything to happen
// cout << "\nempty" << endl;
// Matrix dynamic0;
// test(dynamic0);
// cout << "after" << dynamic0 << endl;
//
// // In this case we don't want a copy, TODO: does it copy???
// cout << "\nfixed" << endl;
// Matrix25 fixedDcal;
// fixedDcal.setOnes();
//
// cout << fixedDcal << endl;
// test(fixedDcal);
// cout << "after" << fixedDcal << endl;
//
// // In this case we want dynamic1 to be correctly allocate and filled
// cout << "\ndynamic wrong size" << endl;
// Matrix dynamic1(8,5);
// dynamic1.setOnes();
//
// cout << dynamic1 << endl;
// test(dynamic1);
// cout << "after" << dynamic1 << endl;
//
// // In this case we want dynamic1 to be correctly allocate and filled
// cout << "\ndynamic right size" << endl;
// Matrix dynamic2(2,5);
// dynamic2.setOnes();
//
// cout << dynamic2 << endl;
// test(dynamic2);
// cout << "after" << dynamic2 << endl;
//}
//
//void test2(Eigen::Ref<Matrix> H) {
// cout << "test2" << endl;
// cout << H.size() << endl;
// cout << H.rows() << "," << H.cols() << endl;
// if (H.size()) {
// cout << "H before:\n" << H << endl;
// H.resize(2, 5);
// H = Matrix25::Zero();
// cout << "H after:\n" << H << endl;
// }
//}
//
//TEST( Cal3DS2, Ref2) {
//
// // In this case we don't want anything to happen
// cout << "\nempty" << endl;
// Matrix dynamic0;
// test2(dynamic0);
// cout << "after" << dynamic0 << endl;
//
// // In this case we don't want a copy, TODO: does it copy???
// cout << "\nfixed" << endl;
// Matrix25 fixedDcal;
// fixedDcal.setOnes();
//
// cout << fixedDcal << endl;
// test2(fixedDcal);
// cout << "after" << fixedDcal << endl;
//
// // In this case we want dynamic1 to be correctly allocate and filled
// cout << "\ndynamic wrong size" << endl;
// Matrix dynamic1(8,5);
// dynamic1.setOnes();
//
// cout << dynamic1 << endl;
// test2(dynamic1);
// cout << "after" << dynamic1 << endl;
//
// // In this case we want dynamic1 to be correctly allocate and filled
// cout << "\ndynamic right size" << endl;
// Matrix dynamic2(2,5);
// dynamic2.setOnes();
//
// cout << dynamic2 << endl;
// test2(dynamic2);
// cout << "after" << dynamic2 << endl;
//}
/* ************************************************************************* */
template<int Rows, int Cols>
struct OptionalJacobian {
struct FixedRef {
bool empty_;
typedef Eigen::Matrix<double, Rows, Cols> Fixed;
Eigen::Map<Fixed> map_;
OptionalJacobian() :
FixedRef() :
empty_(true), map_(NULL) {
}
OptionalJacobian(Fixed& fixed) :
FixedRef(Fixed& fixed) :
empty_(false), map_(NULL) {
// Trick on http://eigen.tuxfamily.org/dox/group__TutorialMapClass.html
// to make map_ usurp the memory of the fixed size matrix
new (&map_) Eigen::Map<Fixed>(fixed.data());
}
OptionalJacobian(Matrix& dynamic) :
FixedRef(Matrix& dynamic) :
empty_(false), map_(NULL) {
dynamic.resize(Rows, Cols);
// Trick on http://eigen.tuxfamily.org/dox/group__TutorialMapClass.html
@ -247,7 +130,7 @@ struct OptionalJacobian {
}
};
void test3(OptionalJacobian<2,3> H = OptionalJacobian<2,3>()) {
void test3(FixedRef<2,3> H = FixedRef<2,3>()) {
if (H)
H = Matrix23::Zero();
}