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Merge pull request #172 from erik-nelson/erik/make_attitude_factor_copy_and_move_assignable 

Make AttitudeFactor copy and move assignable.
release/4.3a0
Chris Beall 2019-11-22 20:53:57 -08:00 committed by GitHub
parent 55d3dce567 3f064894c4
commit ed62785a07
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 44 additions and 15 deletions
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25
gtsam/navigation/AttitudeFactor.h
View File

@ -35,7 +35,7 @@ class AttitudeFactor {
protected:
const Unit3 nZ_, bRef_; ///< Position measurement in
Unit3 nZ_, bRef_; ///< Position measurement in
public:
@ -56,12 +56,19 @@ public:
Vector attitudeError(const Rot3& p,
OptionalJacobian<2,3> H = boost::none) const;
const Unit3& nZ() const {
return nZ_;
}
const Unit3& bRef() const {
return bRef_;
}
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & boost::serialization::make_nvp("nZ_", const_cast<Unit3&>(nZ_));
ar & boost::serialization::make_nvp("bRef_", const_cast<Unit3&>(bRef_));
ar & boost::serialization::make_nvp("nZ_", nZ_);
ar & boost::serialization::make_nvp("bRef_", bRef_);
}
};
@ -118,12 +125,6 @@ public:
boost::optional<Matrix&> H = boost::none) const {
return attitudeError(nRb, H);
}
Unit3 nZ() const {
return nZ_;
}
Unit3 bRef() const {
return bRef_;
}
private:
@ -204,12 +205,6 @@ public:
}
return e;
}
Unit3 nZ() const {
return nZ_;
}
Unit3 bRef() const {
return bRef_;
}
private:

34
gtsam/navigation/tests/testAttitudeFactor.cpp
View File

@ -75,6 +75,23 @@ TEST(Rot3AttitudeFactor, Serialization) {
EXPECT(serializationTestHelpers::equalsBinary(factor));
}
/* ************************************************************************* */
TEST(Rot3AttitudeFactor, CopyAndMove) {
Unit3 nDown(0, 0, -1);
SharedNoiseModel model = noiseModel::Isotropic::Sigma(2, 0.25);
Rot3AttitudeFactor factor(0, nDown, model);
// Copy assignable.
EXPECT(std::is_copy_assignable<Rot3AttitudeFactor>::value);
Rot3AttitudeFactor factor_copied = factor;
EXPECT(assert_equal(factor, factor_copied));
// Move assignable.
EXPECT(std::is_move_assignable<Rot3AttitudeFactor>::value);
Rot3AttitudeFactor factor_moved = std::move(factor_copied);
EXPECT(assert_equal(factor, factor_moved));
}
// *************************************************************************
TEST( Pose3AttitudeFactor, Constructor ) {
@ -119,6 +136,23 @@ TEST(Pose3AttitudeFactor, Serialization) {
EXPECT(serializationTestHelpers::equalsBinary(factor));
}
/* ************************************************************************* */
TEST(Pose3AttitudeFactor, CopyAndMove) {
Unit3 nDown(0, 0, -1);
SharedNoiseModel model = noiseModel::Isotropic::Sigma(2, 0.25);
Pose3AttitudeFactor factor(0, nDown, model);
// Copy assignable.
EXPECT(std::is_copy_assignable<Pose3AttitudeFactor>::value);
Pose3AttitudeFactor factor_copied = factor;
EXPECT(assert_equal(factor, factor_copied));
// Move assignable.
EXPECT(std::is_move_assignable<Pose3AttitudeFactor>::value);
Pose3AttitudeFactor factor_moved = std::move(factor_copied);
EXPECT(assert_equal(factor, factor_moved));
}
// *************************************************************************
int main() {
TestResult tr;