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type checking works now

release/4.3a0
kartik arcot 2023-01-04 16:50:47 -08:00
parent 1ee54c6533
commit f2efe97f41
1 changed files with 7 additions and 11 deletions
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18
gtsam/nonlinear/NonlinearFactor.h
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@ -40,7 +40,7 @@ namespace gtsam {
#ifdef NO_BOOST_CPP17
// These typedefs and aliases will help with making the evaluateError interface
// independent of boost
#define OptionalNone nullptr
using OptionalNone = nullptr;
template <typename T = void>
using OptionalMatrixT = Matrix*;
using OptionalMatrix = Matrix*;
@ -49,6 +49,7 @@ using OptionalMatrix = Matrix*;
using OptionalMatrixVec = std::vector<Matrix>*;
#else
// creating a none value to use when declaring our interfaces
using OptionalNoneType = boost::none_t;
#define OptionalNone boost::none
template <typename T = void>
using OptionalMatrixT = boost::optional<Matrix&>;
@ -618,16 +619,11 @@ protected:
*/
template <typename... OptionalJacArgs, typename = IndexIsValid<sizeof...(OptionalJacArgs) + 1>>
inline Vector evaluateError(const ValueTypes&... x, OptionalJacArgs&&... H) const {
/* constexpr bool are_all_opt_mat = (... && std::is_same<OptionalMatrix, std::decay_t<OptionalJacArgs>>::value); */
constexpr bool are_all_mat =
(... && (std::is_same<Matrix, std::decay_t<OptionalJacArgs>>::value ||
std::is_same<boost::none_t, std::decay_t<OptionalJacArgs>>::value));
static_assert(are_all_mat, "ERRORRR");
/* if constexpr ((... && std::is_same<OptionalMatrix, std::decay_t<OptionalJacArgs>>::value)) { */
/* return evaluateError(x..., std::forward<OptionalJacArgs>(H)..., boost::none); */
/* } else if constexpr ((... && std::is_same<Matrix, std::decay_t<OptionalJacArgs>>::value)) { */
return evaluateError(x..., std::forward<OptionalJacArgs>(H)..., boost::none);
/* } */
constexpr bool are_all_mat = (... && (std::is_same<Matrix, std::decay_t<OptionalJacArgs>>::value ||
std::is_same<OptionalMatrix, std::decay_t<OptionalJacArgs>>::value ||
std::is_same<OptionalNoneType, std::decay_t<OptionalJacArgs>>::value));
static_assert(are_all_mat, "ERRORRR");
return evaluateError(x..., std::forward<OptionalJacArgs>(H)..., boost::none);
}
/// @}