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Made vaguely unsafe keysAndDims private (as it relies on keys and dimensions being in same order), as to not tempt people to use it.

release/4.3a0
dellaert 2014-11-25 12:36:52 +01:00
parent 2ced73ebe1
commit df91cf7fad
3 changed files with 24 additions and 23 deletions
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27
gtsam_unstable/nonlinear/Expression.h
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@ -45,8 +45,6 @@ public:
/// Define type so we can apply it as a meta-function
typedef Expression<T> type;
typedef std::pair<FastVector<Key>, FastVector<int> > KeysAndDims;
private:
// Paul's trick shared pointer, polymorphic root of entire expression tree
@ -136,18 +134,6 @@ public:
root_->dims(map);
}
/// return keys and dimensions as vectors in same order
KeysAndDims keysAndDims() const {
std::map<Key, int> map;
dims(map);
size_t n = map.size();
FastVector<Key> keys(n);
boost::copy(map | boost::adaptors::map_keys, keys.begin());
FastVector<int> dims(n);
boost::copy(map | boost::adaptors::map_values, dims.begin());
return make_pair(keys, dims);
}
/**
* @brief Return value and optional derivatives, reverse AD version
* Notes: this is not terribly efficient, and H should have correct size.
@ -165,6 +151,19 @@ public:
private:
/// Vaguely unsafe keys and dimensions in same order
typedef std::pair<FastVector<Key>, FastVector<int> > KeysAndDims;
KeysAndDims keysAndDims() const {
std::map<Key, int> map;
dims(map);
size_t n = map.size();
FastVector<Key> keys(n);
boost::copy(map | boost::adaptors::map_keys, keys.begin());
FastVector<int> dims(n);
boost::copy(map | boost::adaptors::map_values, dims.begin());
return make_pair(keys, dims);
}
/// private version that takes keys and dimensions, returns derivatives
T value(const Values& values, const KeysAndDims& keysAndDims,
std::vector<Matrix>& H) const {

9
gtsam_unstable/nonlinear/tests/testExpression.cpp
View File

@ -119,15 +119,6 @@ TEST(Expression, NullaryMethod) {
norm.dims(map);
LONGS_EQUAL(1,map.size());
// Get and check keys and dims
FastVector<Key> keys;
FastVector<int> dims;
boost::tie(keys, dims) = norm.keysAndDims();
LONGS_EQUAL(1,keys.size());
LONGS_EQUAL(1,dims.size());
LONGS_EQUAL(67,keys[0]);
LONGS_EQUAL(3,dims[0]);
// Get value and Jacobians
std::vector<Matrix> H(1);
double actual = norm.value(values, H);

11
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
View File

@ -202,6 +202,17 @@ TEST(ExpressionFactor, Shallow) {
// Construct expression, concise evrsion
Point2_ expression = project(transform_to(x_, p_));
// Get and check keys and dims
FastVector<Key> keys;
FastVector<int> dims;
boost::tie(keys, dims) = expression.keysAndDims();
LONGS_EQUAL(2,keys.size());
LONGS_EQUAL(2,dims.size());
LONGS_EQUAL(1,keys[0]);
LONGS_EQUAL(2,keys[1]);
LONGS_EQUAL(6,dims[0]);
LONGS_EQUAL(3,dims[1]);
// traceExecution of shallow tree
typedef UnaryExpression<Point2, Point3> Unary;
typedef BinaryExpression<Point3, Pose3, Point3> Binary;