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Workaround for conflict between boost variant and graph in boost < 1.47

release/4.3a0
Richard Roberts 2011-12-22 17:29:00 +00:00
parent ffcbcb703d
commit e0988ade11
3 changed files with 108 additions and 5 deletions
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95
gtsam/base/boost_variant_with_workaround.h Normal file
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@ -0,0 +1,95 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file boost_variant_with_workaround.h
* @brief Includes boost/variant.hpp with a workaround for a variant/boost graph conflict, by defining the variant 'get' function in a new variant_workaround namespace.
* @author Richard Roberts
*/
#pragma once
#include <boost/variant.hpp>
#include <boost/version.hpp>
namespace variant_workaround {
/* ************************************************************************* */
// The following functions are pasted from boost/variant/get.hpp, but with
// explicit argument types to avoid a conflict with 'get' in the boost graph
// library that exists in boost < 1.47.
#if BOOST_VERSION >= 104700
using boost::get;
#else
template <typename U, BOOST_VARIANT_ENUM_PARAMS(typename T) >
inline
typename boost::add_pointer<U>::type
get(
boost::variant< BOOST_VARIANT_ENUM_PARAMS(T) >* operand
BOOST_VARIANT_AUX_GET_EXPLICIT_TEMPLATE_TYPE(U)
)
{
typedef typename boost::add_pointer<U>::type U_ptr;
if (!operand) return static_cast<U_ptr>(0);
boost::detail::variant::get_visitor<U> v;
return operand->apply_visitor(v);
}
template <typename U, BOOST_VARIANT_ENUM_PARAMS(typename T) >
inline
typename boost::add_pointer<const U>::type
get(
const boost::variant< BOOST_VARIANT_ENUM_PARAMS(T) >* operand
BOOST_VARIANT_AUX_GET_EXPLICIT_TEMPLATE_TYPE(U)
)
{
typedef typename boost::add_pointer<const U>::type U_ptr;
if (!operand) return static_cast<U_ptr>(0);
boost::detail::variant::get_visitor<const U> v;
return operand->apply_visitor(v);
}
template <typename U, BOOST_VARIANT_ENUM_PARAMS(typename T) >
inline
typename boost::add_reference<U>::type
get(
boost::variant< BOOST_VARIANT_ENUM_PARAMS(T) >& operand
BOOST_VARIANT_AUX_GET_EXPLICIT_TEMPLATE_TYPE(U)
)
{
typedef typename boost::add_pointer<U>::type U_ptr;
U_ptr result = variant_workaround::get<U>(&operand);
if (!result)
throw boost::bad_get();
return *result;
}
template <typename U, BOOST_VARIANT_ENUM_PARAMS(typename T) >
inline
typename boost::add_reference<const U>::type
get(
const boost::variant< BOOST_VARIANT_ENUM_PARAMS(T) >& operand
BOOST_VARIANT_AUX_GET_EXPLICIT_TEMPLATE_TYPE(U)
)
{
typedef typename boost::add_pointer<const U>::type U_ptr;
U_ptr result = variant_workaround::get<const U>(&operand);
if (!result)
throw boost::bad_get();
return *result;
}
#endif
}

15
gtsam/nonlinear/ISAM2-inl.h
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@ -30,6 +30,7 @@ using namespace boost::assign;
#include <gtsam/nonlinear/ISAM2-impl-inl.h>
#include <gtsam/nonlinear/DoglegOptimizerImpl.h>
namespace gtsam {
using namespace std;
@ -43,16 +44,18 @@ static const bool structuralLast = false;
template<class CONDITIONAL, class VALUES, class GRAPH>
ISAM2<CONDITIONAL, VALUES, GRAPH>::ISAM2(const ISAM2Params& params):
delta_(Permutation(), deltaUnpermuted_), params_(params) {
// See note in gtsam/base/boost_variant_with_workaround.h
if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams))
doglegDelta_ = boost::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
doglegDelta_ = variant_workaround::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
}
/* ************************************************************************* */
template<class CONDITIONAL, class VALUES, class GRAPH>
ISAM2<CONDITIONAL, VALUES, GRAPH>::ISAM2():
delta_(Permutation(), deltaUnpermuted_) {
// See note in gtsam/base/boost_variant_with_workaround.h
if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams))
doglegDelta_ = boost::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
doglegDelta_ = variant_workaround::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
}
/* ************************************************************************* */
@ -528,7 +531,9 @@ ISAM2Result ISAM2<CONDITIONAL, VALUES, GRAPH>::update(
tic(9,"solve");
// 9. Solve
if(params_.optimizationParams.type() == typeid(ISAM2GaussNewtonParams)) {
const ISAM2GaussNewtonParams& gaussNewtonParams = boost::get<ISAM2GaussNewtonParams>(params_.optimizationParams);
// See note in gtsam/base/boost_variant_with_workaround.h
const ISAM2GaussNewtonParams& gaussNewtonParams =
variant_workaround::get<ISAM2GaussNewtonParams>(params_.optimizationParams);
if (gaussNewtonParams.wildfireThreshold <= 0.0 || disableReordering) {
VectorValues newDelta(theta_.dims(ordering_));
optimize2(this->root(), newDelta);
@ -550,7 +555,9 @@ ISAM2Result ISAM2<CONDITIONAL, VALUES, GRAPH>::update(
#endif
}
} else if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams)) {
const ISAM2DoglegParams& doglegParams = boost::get<ISAM2DoglegParams>(params_.optimizationParams);
// See note in gtsam/base/boost_variant_with_workaround.h
const ISAM2DoglegParams& doglegParams =
variant_workaround::get<ISAM2DoglegParams>(params_.optimizationParams);
// Do one Dogleg iteration
DoglegOptimizerImpl::IterationResult doglegResult = DoglegOptimizerImpl::Iterate(
*doglegDelta_, doglegParams.adaptationMode, *this, nonlinearFactors_, theta_, ordering_, nonlinearFactors_.error(theta_), doglegParams.verbose);

3
gtsam/nonlinear/ISAM2.h
View File

@ -23,7 +23,8 @@
#include <gtsam/nonlinear/DoglegOptimizerImpl.h>
#include <gtsam/inference/BayesTree.h>
#include <boost/variant.hpp>
// Workaround for boost < 1.47, see note in file
#include <gtsam/base/boost_variant_with_workaround.h>
namespace gtsam {