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Check type of CONTAINER constructor tparam 

This is a byproduct of the overload resolution problem when N=1, then it can be hard to differentiate between:
NoiseModelFactorN(noise, key)
NoiseModelFactorN(noise, {key})
release/4.3a0
Gerry Chen 2022-12-19 20:14:12 -05:00
parent b24511fb18
commit e8ddbbebff
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2 changed files with 7 additions and 1 deletions
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7
gtsam/nonlinear/NonlinearFactor.h
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@ -352,7 +352,12 @@ class NoiseModelFactorN : public NoiseModelFactor {
* @param noiseModel Shared pointer to noise model. * @param noiseModel Shared pointer to noise model.
* @param keys A container of keys for the variables in this factor. * @param keys A container of keys for the variables in this factor.
*/ */
template <typename CONTAINER = std::initializer_list<Key>> template <typename CONTAINER = std::initializer_list<Key>,
// check that CONTAINER is a container of Keys:
typename T = typename std::decay<
decltype(*std::declval<CONTAINER>().begin())>::type,
typename std::enable_if<std::is_convertible<T, Key>::value,
bool>::type = true>
NoiseModelFactorN(const SharedNoiseModel& noiseModel, CONTAINER keys) NoiseModelFactorN(const SharedNoiseModel& noiseModel, CONTAINER keys)
: Base(noiseModel, keys) { : Base(noiseModel, keys) {
assert(keys.size() == N); assert(keys.size() == N);

1
tests/testNonlinearFactor.cpp
View File

@ -376,6 +376,7 @@ TEST(NonlinearFactor, NoiseModelFactor1) {
// Test constructors // Test constructors
TestFactor1 tf2(noiseModel::Unit::Create(1), L(1)); TestFactor1 tf2(noiseModel::Unit::Create(1), L(1));
TestFactor1 tf3(noiseModel::Unit::Create(1), {L(1)}); TestFactor1 tf3(noiseModel::Unit::Create(1), {L(1)});
TestFactor1 tf4(noiseModel::Unit::Create(1), gtsam::Symbol('L', 1));
} }
/* ************************************************************************* */ /* ************************************************************************* */