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Added single-element update function to TupleConfigs

release/4.3a0
Alex Cunningham 2010-05-04 13:41:46 +00:00
parent 3df1f69e6c
commit d2d51d9f68
3 changed files with 35 additions and 2 deletions
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7
cpp/TupleConfig.h
View File

@ -75,6 +75,11 @@ namespace gtsam {
second_.update(config.second_);
}
// update function for single elements
template<class Key, class Value>
void update(const Key& key, const Value& value) { second_.update(key, value); }
void update(const Key1& key, const Value1& value) { first_.update(key, value); }
// insert a subconfig
template<class Cfg>
void insertSub(const Cfg& config) { second_.insertSub(config); }
@ -172,6 +177,8 @@ namespace gtsam {
// update function for whole configs
void update(const TupleConfigEnd<Config>& config) {first_.update(config.first_); }
void update(const Key1& key, const Value1& value) { first_.update(key, value); }
// insert function for sub configs
void insertSub(const Config& config) {first_.insert(config); }

4
cpp/testLieConfig.cpp
View File

@ -80,7 +80,7 @@ TEST( LieConfig, insert_config )
}
/* ************************************************************************* */
TEST( LieConfig, insert_overlap )
TEST( LieConfig, update_element )
{
LieConfig<string,Vector> cfg;
Vector v1 = Vector_(3, 5.0, 6.0, 7.0);
@ -92,7 +92,7 @@ TEST( LieConfig, insert_overlap )
cfg.update("x1", v2);
CHECK(cfg.size() == 1);
CHECK(assert_equal(v2, cfg.at("x1"))); // fails - need to change behavior
CHECK(assert_equal(v2, cfg.at("x1")));
}
/* ************************************************************************* */

26
cpp/testTupleConfig.cpp
View File

@ -294,6 +294,32 @@ TEST(TupleConfig, insert_config) {
CHECK(assert_equal(expected, config1));
}
/* ************************************************************************* */
TEST( TupleConfig, update_element )
{
TupleConfig2<PoseConfig, PointConfig> cfg;
Pose2 x1(2.0, 1.0, 2.0), x2(3.0, 4.0, 5.0);
Point2 l1(1.0, 2.0), l2(3.0, 4.0);
PoseKey xk(1);
PointKey lk(1);
cfg.insert(xk, x1);
CHECK(cfg.size() == 1);
CHECK(assert_equal(x1, cfg.at(xk)));
cfg.update(xk, x2);
CHECK(cfg.size() == 1);
CHECK(assert_equal(x2, cfg.at(xk)));
cfg.insert(lk, l1);
CHECK(cfg.size() == 2);
CHECK(assert_equal(l1, cfg.at(lk)));
cfg.update(lk, l2);
CHECK(cfg.size() == 2);
CHECK(assert_equal(l2, cfg.at(lk)));
}
/* ************************************************************************* */
TEST( TupleConfig, equals )
{