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Merge branch 'master' into measurement_concepts 

Conflicts:
	gtsam/slam/BearingRangeFactor.h
release/4.3a0
Alex Cunningham 2011-10-15 18:38:49 +00:00
parent 49f4c911f6
commit eeacef81b6
24 changed files with 82 additions and 15 deletions
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3
gtsam/base/LieScalar.h
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@ -17,7 +17,6 @@
#pragma once
#include <gtsam/base/Testable.h>
#include <gtsam/base/Lie.h>
namespace gtsam {
@ -25,7 +24,7 @@ namespace gtsam {
/**
* LieScalar is a wrapper around double to allow it to be a Lie type
*/
struct LieScalar : public Lie<LieScalar>, Testable<LieScalar> {
struct LieScalar : public Lie<LieScalar> {
/** default constructor - should be unnecessary */
LieScalar() {}

3
gtsam/base/LieVector.h
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@ -17,7 +17,6 @@
#pragma once
#include <gtsam/base/Testable.h>
#include <gtsam/base/Lie.h>
#include <gtsam/base/Vector.h>
@ -26,7 +25,7 @@ namespace gtsam {
/**
* LieVector is a wrapper around vector to allow it to be a Lie type
*/
struct LieVector : public Vector, public Lie<LieVector>, Testable<LieVector> {
struct LieVector : public Vector, public Lie<LieVector> {
/** default constructor - should be unnecessary */
LieVector() {}

27
gtsam/base/Testable.h
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@ -65,6 +65,25 @@ namespace gtsam {
}; // Testable class
/**
* A testable concept check to be placed in unit tests, rather than subclassing
*
*/
template <class T>
class TestableConcept {
static bool checkTestableConcept(const T& d) {
// check print function, with optional string
d.print(std::string());
d.print();
// check print, with optional threshold
double tol = 1.0;
bool r1 = d.equals(d, tol);
bool r2 = d.equals(d);
return r1 && r2;
}
}; // Testable class
/**
* This template works for any type with equals
*/
@ -104,3 +123,11 @@ namespace gtsam {
};
} // gtsam
/**
* Macros for using the TestableConcept
* - An instantiation for use inside unit tests
* - A typedef for use inside generic algorithms
*/
#define GTSAM_CONCEPT_TESTABLE_INST(T) template class gtsam::TestableConcept<T>;
#define GTSAM_CONCEPT_TESTABLE_TYPE(T) typedef gtsam::TestableConcept<T> _gtsam_TestableConcept_##T;

3
gtsam/base/tests/testLieScalar.cpp
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@ -16,10 +16,13 @@
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/LieScalar.h>
using namespace gtsam;
GTSAM_CONCEPT_TESTABLE_INST(LieScalar)
const double tol=1e-9;
/* ************************************************************************* */

3
gtsam/base/tests/testLieVector.cpp
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@ -16,10 +16,13 @@
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/LieVector.h>
using namespace gtsam;
GTSAM_CONCEPT_TESTABLE_INST(LieVector)
/* ************************************************************************* */
TEST( testLieVector, construction ) {
Vector v = Vector_(3, 1.0, 2.0, 3.0);

2
gtsam/geometry/Cal3Bundler.h
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@ -26,7 +26,7 @@ namespace gtsam {
* @brief Calibration used by Bundler
* @ingroup geometry
*/
class Cal3Bundler: public Testable<Cal3Bundler> {
class Cal3Bundler {
private:
double f_, k1_, k2_ ;

2
gtsam/geometry/Cal3DS2.h
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@ -26,7 +26,7 @@ namespace gtsam {
* @brief Calibration of a camera with radial distortion
* @ingroup geometry
*/
class Cal3DS2 : Testable<Cal3DS2> {
class Cal3DS2 {
private:
double fx_, fy_, s_, u0_, v0_ ; // focal length, skew and principal point
double k1_, k2_ ; // radial 2nd-order and 4th-order

2
gtsam/geometry/Cal3_S2.h
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@ -29,7 +29,7 @@ namespace gtsam {
* @brief The most common 5DOF 3D->2D calibration
* @ingroup geometry
*/
class Cal3_S2: Testable<Cal3_S2> {
class Cal3_S2 {
private:
double fx_, fy_, s_, u0_, v0_;

5
gtsam/geometry/Point2.h
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@ -19,18 +19,17 @@
#include <boost/serialization/nvp.hpp>
#include <gtsam/base/Matrix.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/Lie.h>
namespace gtsam {
/**
* A 2D point
* Derived from testable so has standard print and equals, and assert_equals works
* Complies with the Testable Concept
* Functional, so no set functions: once created, a point is constant.
* @ingroup geometry
*/
class Point2: Testable<Point2>, public Lie<Point2> {
class Point2: public Lie<Point2> {
public:
/// dimension of the variable - used to autodetect sizes
static const size_t dimension = 2;

2
gtsam/geometry/Pose2.h
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@ -31,7 +31,7 @@ namespace gtsam {
* A 2D pose (Point2,Rot2)
* @ingroup geometry
*/
class Pose2: Testable<Pose2>, public Lie<Pose2> {
class Pose2: public Lie<Pose2> {
public:
static const size_t dimension = 3;

2
gtsam/geometry/Rot2.h
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@ -28,7 +28,7 @@ namespace gtsam {
* NOTE: the angle theta is in radians unless explicitly stated
* @ingroup geometry
*/
class Rot2: Testable<Rot2>, public Lie<Rot2> {
class Rot2: public Lie<Rot2> {
public:
/** get the dimension by the type */

2
gtsam/geometry/StereoPoint2.h
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@ -26,7 +26,7 @@ namespace gtsam {
* A 2D stereo point, v will be same for rectified images
* @ingroup geometry
*/
class StereoPoint2: Testable<StereoPoint2>, Lie<StereoPoint2> {
class StereoPoint2: Lie<StereoPoint2> {
public:
static const size_t dimension = 3;
private:

1
gtsam/geometry/tests/testCal3Bundler.cpp
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@ -16,6 +16,7 @@
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Cal3Bundler.h>

1
gtsam/geometry/tests/testCal3DS2.cpp
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@ -16,6 +16,7 @@
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Cal3DS2.h>

3
gtsam/geometry/tests/testCal3_S2.cpp
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@ -15,11 +15,14 @@
*/
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Cal3_S2.h>
using namespace gtsam;
GTSAM_CONCEPT_TESTABLE_INST(Cal3_S2)
Cal3_S2 K(500, 500, 0.1, 640 / 2, 480 / 2);
Point2 p(1, -2);

1
gtsam/geometry/tests/testPoint2.cpp
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@ -16,6 +16,7 @@
**/
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/geometry/Point2.h>
using namespace std;

7
gtsam/geometry/tests/testPose2.cpp
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@ -23,6 +23,7 @@
using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/lieProxies.h>
#include <gtsam/geometry/Pose2.h>
@ -34,6 +35,12 @@ using namespace std;
// #define SLOW_BUT_CORRECT_EXPMAP
// concept checks for testable
GTSAM_CONCEPT_TESTABLE_INST(Pose2)
GTSAM_CONCEPT_TESTABLE_INST(Point2)
GTSAM_CONCEPT_TESTABLE_INST(Rot2)
GTSAM_CONCEPT_TESTABLE_INST(LieVector)
/* ************************************************************************* */
TEST(Pose2, constructors) {
Point2 p;

1
gtsam/geometry/tests/testRot2.cpp
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@ -16,6 +16,7 @@
*/
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Rot2.h>

5
gtsam/slam/BearingFactor.h
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@ -16,6 +16,7 @@
#pragma once
#include <gtsam/base/Testable.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
namespace gtsam {
@ -35,6 +36,10 @@ namespace gtsam {
typedef NonlinearFactor2<VALUES, POSEKEY, POINTKEY> Base;
Rot z_; /** measurement */
/** concept check by type */
GTSAM_CONCEPT_TESTABLE_TYPE(Rot)
public:
/** default constructor for serialization/testing only */

4
gtsam/slam/BearingRangeFactor.h
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@ -19,6 +19,7 @@
#pragma once
#include <gtsam/geometry/concepts.h>
#include <gtsam/base/Testable.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
namespace gtsam {
@ -41,7 +42,8 @@ namespace gtsam {
Rot bearing_;
double range_;
// Concept requirements for this factor
/** concept check by type */
GTSAM_CONCEPT_TESTABLE_TYPE(Rot)
GTSAM_CONCEPT_RANGE_MEASUREMENT(Pose, Point)
public:

4
gtsam/slam/BetweenConstraint.h
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@ -17,6 +17,7 @@
#pragma once
#include <gtsam/base/Testable.h>
#include <gtsam/nonlinear/NonlinearConstraint.h>
namespace gtsam {
@ -35,6 +36,9 @@ namespace gtsam {
X measured_; /// fixed between value
/** concept check by type */
GTSAM_CONCEPT_TESTABLE_TYPE(X)
public:
typedef boost::shared_ptr<BetweenConstraint<VALUES, KEY> > shared_ptr;

6
gtsam/slam/BetweenFactor.h
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@ -17,9 +17,10 @@
#include <ostream>
#include <gtsam/base/Testable.h>
#include <gtsam/base/Lie.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/linear/GaussianFactor.h>
#include <gtsam/base/Lie.h>
namespace gtsam {
@ -38,6 +39,9 @@ namespace gtsam {
T measured_; /** The measurement */
/** concept check by type */
GTSAM_CONCEPT_TESTABLE_TYPE(T)
public:
// shorthand for a smart pointer to a factor

4
gtsam/slam/BoundingConstraint.h
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@ -42,6 +42,8 @@ struct BoundingConstraint1: public NonlinearConstraint1<VALUES, KEY> {
Base(key, 1, mu), threshold_(threshold), isGreaterThan_(isGreaterThan) {
}
virtual ~BoundingConstraint1() {}
inline double threshold() const { return threshold_; }
inline bool isGreaterThan() const { return isGreaterThan_; }
@ -107,6 +109,8 @@ struct BoundingConstraint2: public NonlinearConstraint2<VALUES, KEY1, KEY2> {
bool isGreaterThan, double mu = 1000.0)
: Base(key1, key2, 1, mu), threshold_(threshold), isGreaterThan_(isGreaterThan) {}
virtual ~BoundingConstraint2() {}
inline double threshold() const { return threshold_; }
inline bool isGreaterThan() const { return isGreaterThan_; }

4
gtsam/slam/PriorFactor.h
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@ -15,6 +15,7 @@
**/
#pragma once
#include <gtsam/base/Testable.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
namespace gtsam {
@ -39,6 +40,9 @@ namespace gtsam {
T prior_; /** The measurement */
/** concept check by type */
GTSAM_CONCEPT_TESTABLE_TYPE(T)
public:
// shorthand for a smart pointer to a factor