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better error message, formatting

release/4.3a0
Frank Dellaert 2009-12-18 05:16:09 +00:00
parent 0194926dc2
commit edb72d305f
2 changed files with 105 additions and 96 deletions
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12
cpp/UrbanConfig.cpp
View File

@ -86,19 +86,13 @@ bool UrbanConfig::equals(const UrbanConfig& c, double tol) const {
/* ************************************************************************* */ /* ************************************************************************* */
void UrbanConfig::addRobotPose(const int i, Pose3 cp) void UrbanConfig::addRobotPose(const int i, Pose3 cp)
{ {
pair<int, Pose3> robot; robotPoses_.insert(make_pair(i,cp));
robot.first = i;
robot.second = cp;
robotPoses_.insert(robot);
} }
/* ************************************************************************* */ /* ************************************************************************* */
void UrbanConfig::addLandmark(const int i, Point2 lp) void UrbanConfig::addLandmark(const int j, Point2 lp)
{ {
pair<int, Point2> landmark; landmarkPoints_.insert(make_pair(j,lp));
landmark.first = i;
landmark.second = lp;
landmarkPoints_.insert(landmark);
} }
/* ************************************************************************* */ /* ************************************************************************* */

57
cpp/UrbanConfig.h
View File

@ -6,6 +6,7 @@
*/ */
#include <map> #include <map>
#include <sstream>
#include "Testable.h" #include "Testable.h"
#include "VectorConfig.h" #include "VectorConfig.h"
#include "Point2.h" #include "Point2.h"
@ -26,6 +27,12 @@ class UrbanConfig : Testable<UrbanConfig> {
PointMap landmarkPoints_; PointMap landmarkPoints_;
PoseMap robotPoses_; PoseMap robotPoses_;
static std::string symbol(char c, int index) {
std::stringstream ss;
ss << c << index;
return ss.str();
}
public: public:
typedef std::map<std::string, Vector>::const_iterator const_iterator; typedef std::map<std::string, Vector>::const_iterator const_iterator;
typedef PoseMap::const_iterator const_Pose_iterator; typedef PoseMap::const_iterator const_Pose_iterator;
@ -33,13 +40,16 @@ class UrbanConfig : Testable<UrbanConfig> {
/** /**
* default constructor * default constructor
*/ */
UrbanConfig() {} UrbanConfig() {
}
/* /*
* copy constructor * copy constructor
*/ */
UrbanConfig(const UrbanConfig& original) : UrbanConfig(const UrbanConfig& original) :
robotPoses_(original.robotPoses_), landmarkPoints_(original.landmarkPoints_){} robotPoses_(original.robotPoses_), landmarkPoints_(
original.landmarkPoints_) {
}
/** /**
* Exponential map: takes 6D vectors in VectorConfig * Exponential map: takes 6D vectors in VectorConfig
@ -48,10 +58,18 @@ class UrbanConfig : Testable<UrbanConfig> {
*/ */
UrbanConfig exmap(const VectorConfig & delta) const; UrbanConfig exmap(const VectorConfig & delta) const;
PoseMap::const_iterator robotIteratorBegin() const { return robotPoses_.begin();} PoseMap::const_iterator robotIteratorBegin() const {
PoseMap::const_iterator robotIteratorEnd() const { return robotPoses_.end();} return robotPoses_.begin();
PointMap::const_iterator landmarkIteratorBegin() const { return landmarkPoints_.begin();} }
PointMap::const_iterator landmarkIteratorEnd() const { return landmarkPoints_.end();} PoseMap::const_iterator robotIteratorEnd() const {
return robotPoses_.end();
}
PointMap::const_iterator landmarkIteratorBegin() const {
return landmarkPoints_.begin();
}
PointMap::const_iterator landmarkIteratorEnd() const {
return landmarkPoints_.end();
}
/** /**
* print * print
@ -61,30 +79,24 @@ class UrbanConfig : Testable<UrbanConfig> {
/** /**
* Retrieve robot pose * Retrieve robot pose
*/ */
bool robotPoseExists(int i) const bool robotPoseExists(int i) const {
{
PoseMap::const_iterator it = robotPoses_.find(i); PoseMap::const_iterator it = robotPoses_.find(i);
if (it==robotPoses_.end()) return (it != robotPoses_.end());
return false;
return true;
} }
Pose3 robotPose(int i) const { Pose3 robotPose(int i) const {
PoseMap::const_iterator it = robotPoses_.find(i); PoseMap::const_iterator it = robotPoses_.find(i);
if (it==robotPoses_.end()) if (it == robotPoses_.end()) throw(std::invalid_argument(
throw(std::invalid_argument("robotPose: invalid key")); "robotPose: invalid key " + symbol('x',i)));
return it->second; return it->second;
} }
/** /**
* Check whether a landmark point exists * Check whether a landmark point exists
*/ */
bool landmarkPointExists(int i) const bool landmarkPointExists(int i) const {
{
PointMap::const_iterator it = landmarkPoints_.find(i); PointMap::const_iterator it = landmarkPoints_.find(i);
if (it==landmarkPoints_.end()) return (it != landmarkPoints_.end());
return false;
return true;
} }
/** /**
@ -92,8 +104,8 @@ class UrbanConfig : Testable<UrbanConfig> {
*/ */
Point2 landmarkPoint(int i) const { Point2 landmarkPoint(int i) const {
PointMap::const_iterator it = landmarkPoints_.find(i); PointMap::const_iterator it = landmarkPoints_.find(i);
if (it==landmarkPoints_.end()) if (it == landmarkPoints_.end()) throw(std::invalid_argument(
throw(std::invalid_argument("markerPose: invalid key")); "markerPose: invalid key " + symbol('l',i)));
return it->second; return it->second;
} }
@ -107,7 +119,10 @@ class UrbanConfig : Testable<UrbanConfig> {
void removeRobotPose(const int i); void removeRobotPose(const int i);
void removeLandmark(const int i); void removeLandmark(const int i);
void clear() {landmarkPoints_.clear(); robotPoses_.clear();} void clear() {
landmarkPoints_.clear();
robotPoses_.clear();
}
inline size_t size() { inline size_t size() {
return landmarkPoints_.size() + robotPoses_.size(); return landmarkPoints_.size() + robotPoses_.size();