Added tests for Keys, Added TypedLabeledSymbol class to allow for runtime symbols on keys

.cproject

@@ -468,6 +468,7 @@
 </target>
 <target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testBayesTree.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -475,7 +476,6 @@
 </target>
 <target name="testSymbolicBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testSymbolicBayesNet.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -483,6 +483,7 @@
 </target>
 <target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testSymbolicFactorGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -714,6 +715,7 @@
 </target>
 <target name="testGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -751,6 +753,14 @@
 <useDefaultCommand>true</useDefaultCommand>
 <runAllBuilders>true</runAllBuilders>
 </target>
+<target name="testKey.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
+<buildArguments>-j2</buildArguments>
+<buildTarget>testKey.run</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>true</useDefaultCommand>
+<runAllBuilders>true</runAllBuilders>
+</target>
 <target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
 <buildArguments>-j2</buildArguments>

cpp/Key.h

@@ -8,11 +8,14 @@
 
 #pragma once
 
+#include <iostream>
 #include <boost/format.hpp>
 #include <boost/serialization/serialization.hpp>
 #include <boost/lexical_cast.hpp>
 #include <boost/integer_traits.hpp>
 
+#include "Testable.h"
+
 #define ALPHA '\224'
 
 namespace gtsam {
@@ -21,12 +24,11 @@ namespace gtsam {
 	 * TypedSymbol key class is templated on
 	 * 1) the type T it is supposed to retrieve, for extra type checking
 	 * 2) the character constant used for its string representation
-	 * TODO: make Testable
 	 */
 	template <class T, char C>
-	class TypedSymbol {
+	class TypedSymbol : Testable<TypedSymbol<T,C> > {
 
-	private:
+	protected:
 		size_t j_;
 
 	public:
@@ -49,6 +51,10 @@ namespace gtsam {
 		bool operator== (const TypedSymbol& compare) const { return j_==compare.j_;}
 		int compare(const TypedSymbol& compare) const {return j_-compare.j_;}
 
+		// Testable Requirements
+		void print(const std::string& name) const {} //FIXME
+		bool equals(const TypedSymbol& expected, double tol) const { return (*this)==expected; }
+
 	private:
 
 		/** Serialization function */
@@ -59,6 +65,72 @@ namespace gtsam {
 		}
 	};
 
+	/**
+	 * TypedLabeledSymbol is a variation of the TypedSymbol that allows
+	 * for a runtime label to be placed on the label, so as to express
+	 * "Pose 5 for robot 3"
+	 * Labels should be kept to base datatypes (int, char, etc) to
+	 * minimize cost of comparisons
+	 *
+	 * The labels will be compared first when comparing Keys, followed by the
+	 * index
+	 */
+	template <class T, char C, typename L>
+	class TypedLabeledSymbol : public TypedSymbol<T, C>, Testable<TypedLabeledSymbol<T,C,L> >  {
+
+	protected:
+		// Label
+		L label_;
+
+	public:
+
+		// Constructors:
+
+		TypedLabeledSymbol() {}
+		TypedLabeledSymbol(size_t j, L label):TypedSymbol<T,C>(j), label_(label) {}
+
+		// Get stuff:
+
+		L label() const { return label_;}
+		const char* c_str() const { return (std::string)(*this).c_str();}
+		operator std::string() const
+				{ return (boost::format("%c%label%d") % C % label_ % this->j_).str(); }
+		std::string latex() const
+				{ return (boost::format("%c%label_{%d}") % C % label_ % this->j_).str(); }
+
+		// logic:
+
+		bool operator< (const TypedLabeledSymbol& compare) const {
+			if (label_ == compare.label_) // sort by label first
+				return this->j_<compare.j_;
+			else
+				return label_<compare.label_;
+		}
+		bool operator== (const TypedLabeledSymbol& compare) const
+				{ return this->j_==compare.j_ && label_ == compare.label_;}
+		int compare(const TypedLabeledSymbol& compare) const {
+			if (label_ == compare.label_) // sort by label first
+				return this->j_-compare.j_;
+			else
+				return label_-compare.label_;
+		}
+
+		// Testable Requirements
+		void print(const std::string& name) const {} // FIXME
+		bool equals(const TypedLabeledSymbol& expected, double tol) const
+				{ return (*this)==expected; }
+
+	private:
+
+		/** Serialization function */
+		friend class boost::serialization::access;
+		template<class Archive>
+		void serialize(Archive & ar, const unsigned int version) {
+			ar & BOOST_SERIALIZATION_NVP(this->j_);
+			ar & BOOST_SERIALIZATION_NVP(label_);
+		}
+	};
+
 
 	/**
 	 * Character and index key used in VectorConfig, GaussianFactorGraph,

cpp/Makefile.am

@@ -131,13 +131,15 @@ testSubgraphPreconditioner_LDADD   = libgtsam.la
 headers += Key.h NonlinearFactorGraph.h NonlinearFactorGraph-inl.h
 headers += NonlinearOptimizer.h NonlinearOptimizer-inl.h 
 headers += NonlinearFactor.h
-check_PROGRAMS += testNonlinearFactor testNonlinearFactorGraph testNonlinearOptimizer
+check_PROGRAMS += testNonlinearFactor testNonlinearFactorGraph testNonlinearOptimizer testKey
 testNonlinearFactor_SOURCES      = $(example) testNonlinearFactor.cpp
 testNonlinearFactor_LDADD        = libgtsam.la
 testNonlinearFactorGraph_SOURCES = $(example) testNonlinearFactorGraph.cpp
 testNonlinearFactorGraph_LDADD   = libgtsam.la
 testNonlinearOptimizer_SOURCES   = $(example) testNonlinearOptimizer.cpp
 testNonlinearOptimizer_LDADD     = libgtsam.la
+testKey_SOURCES   				 = testKey.cpp
+testKey_LDADD     				 = libgtsam.la
 
 # Nonlinear constraints 
 headers += SQPOptimizer.h SQPOptimizer-inl.h  

cpp/testKey.cpp

@@ -0,0 +1,55 @@
+/*
+ * @file testKey.cpp
+ * @author Alex Cunningham
+ */
+
+#include <CppUnitLite/TestHarness.h>
+#include "Key.h"
+	
+using namespace gtsam;
+
+class Pose3;
+
+/* ************************************************************************* */
+TEST ( TypedSymbol, basic_operations ) {
+	typedef TypedSymbol<Pose3, 'x'> Key;
+
+	Key key1(0),
+		key2(0),
+		key3(1),
+		key4(2);
+
+	CHECK(key1.index()==0);
+	CHECK(key1 == key2);
+	CHECK(assert_equal(key1, key2));
+	CHECK(!(key1 == key3));
+	CHECK(key1 < key3);
+	CHECK(key3 < key4);
+}
+
+/* ************************************************************************* */
+TEST ( TypedLabledSymbol, basic_operations ) {
+	typedef TypedLabeledSymbol<Pose3, 'x', int> RobotKey;
+
+	RobotKey key1(0, 1),
+			 key2(0, 1),
+			 key3(1, 1),
+			 key4(2, 1),
+			 key5(0, 2),
+			 key6(1, 2);
+
+	CHECK(key1.label()==1);
+	CHECK(key1.index()==0);
+	CHECK(key1 == key2);
+	CHECK(assert_equal(key1, key2));
+	CHECK(!(key1 == key3));
+	CHECK(key1 < key3);
+	CHECK(key3 < key4);
+	CHECK(!(key1 == key5));
+	CHECK(key1 < key5);
+	CHECK(key5 < key6);
+}
+
+/* ************************************************************************* */
+int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
+/* ************************************************************************* */