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Successfully defined Jacobian

release/4.3a0
dellaert 2014-10-10 12:03:13 +02:00
parent 732ff54b83
commit dd1b931802
1 changed files with 18 additions and 36 deletions
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54
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
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@ -322,27 +322,11 @@ TEST(ExpressionFactor, composeTernary) {
namespace mpl = boost::mpl;
template<class TYPES>
struct ProtoTrace: public ProtoTrace<typename mpl::pop_front<TYPES>::type> {
typedef typename mpl::front<TYPES>::type A;
};
/// Recursive Trace Class, Base case
template<>
struct ProtoTrace<mpl::vector0<> > {
};
template<>
struct ProtoTrace<int> {
};
/// Recursive Trace Class, Primary Template
/// Recursive Trace Class
template<class A, class More>
struct store: More {
struct Trace: More {
// define dimensions
static const size_t m = 3;
static const size_t m = 2;
static const size_t n = A::dimension;
// define fixed size Jacobian matrix types
@ -354,18 +338,26 @@ struct store: More {
JacobianTA dTdA;
};
typedef mpl::vector<Pose3, Point3, Cal3_S2> MyTypes;
template<class T> struct Incomplete;
#include<boost/mpl/empty_base.hpp>
#include<boost/mpl/placeholders.hpp>
#include<boost/mpl/reverse_fold.hpp>
namespace MPL = mpl::placeholders;
typedef mpl::reverse_fold<MyTypes, mpl::empty_base, store<MPL::_2, MPL::_1> >::type Generated;
Generated generated;
//Incomplete<Generated> incomplete;
/// Recursive Trace Class Generator
template<class TYPES>
struct GenerateTrace {
typedef typename mpl::fold<TYPES, mpl::empty_base, Trace<MPL::_2, MPL::_1> >::type type;
};
#include <boost/mpl/assert.hpp>
template<class T> struct Incomplete;
typedef mpl::vector<Pose3, Point3, Cal3_S2> MyTypes;
typedef GenerateTrace<MyTypes>::type Generated;
Incomplete<Generated> incomplete;
BOOST_MPL_ASSERT((boost::is_same< Matrix25, Generated::JacobianTA >));
Generated generated;
typedef mpl::vector1<Point3> OneType;
typedef mpl::pop_front<OneType>::type Empty;
@ -376,21 +368,11 @@ typedef mpl::pop_front<Empty>::type Bad;
#include <boost/static_assert.hpp>
#include <boost/mpl/plus.hpp>
#include <boost/mpl/int.hpp>
#include <boost/mpl/assert.hpp>
//#include <boost/mpl/print.hpp>
BOOST_STATIC_ASSERT((mpl::plus<mpl::int_<2>,mpl::int_<3> >::type::value==5));
typedef mpl::vector0<> List0;
typedef ProtoTrace<int> Proto0;
//typedef ProtoTrace<mpl::vec/tor0<> > Proto0;
//typedef mpl::print<Proto0>::type Dbg;
//incomplete<ProtoTrace<List0> > proto0;
typedef struct {
} Expected0;
BOOST_MPL_ASSERT((boost::is_same< Expected0, Expected0 >));
//BOOST_MPL_ASSERT((boost::is_same< ProtoTrace<int>, ProtoTrace<List0> >));
/* ************************************************************************* */
int main() {