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

Make AttitudeFactor copy and move assignable.

gtsam/navigation/AttitudeFactor.h

@@ -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("nZ_",  nZ_);
-    ar & boost::serialization::make_nvp("bRef_", const_cast<Unit3&>(bRef_));
+    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:
 

gtsam/navigation/tests/testAttitudeFactor.cpp

@@ -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;