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fixed a bug in update

release/4.3a0
Kai Ni 2010-04-29 02:16:18 +00:00
parent 5f7b2ef2ee
commit f81519b046
3 changed files with 58 additions and 1 deletions
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2
cpp/LieConfig-inl.h
View File

@ -87,7 +87,7 @@ namespace gtsam {
void LieConfig<J,T>::update(const LieConfig<J,T>& cfg) {
BOOST_FOREACH(const typename Values::value_type& v, values_) {
boost::optional<T> t = cfg.exists_(v.first);
if (t) insert(v.first, *t);
if (t) values_[v.first] = *t;
}
}

29
cpp/testLieConfig.cpp
View File

@ -186,6 +186,35 @@ TEST(LieConfig, extract_keys)
}
}
/* ************************************************************************* */
TEST(LieConfig, exists_)
{
LieConfig<string,Vector> config0;
config0.insert("v1", Vector_(1, 1.));
config0.insert("v2", Vector_(1, 2.));
boost::optional<Vector> v = config0.exists_("v1");
CHECK(assert_equal(Vector_(1, 1.),*v));
}
/* ************************************************************************* */
TEST(LieConfig, update)
{
LieConfig<string,Vector> config0;
config0.insert("v1", Vector_(1, 1.));
config0.insert("v2", Vector_(1, 2.));
LieConfig<string,Vector> superset;
superset.insert("v1", Vector_(1, -1.));
superset.insert("v2", Vector_(1, -2.));
superset.insert("v3", Vector_(1, -3.));
config0.update(superset);
LieConfig<string,Vector> expected;
expected.insert("v1", Vector_(1, -1.));
expected.insert("v2", Vector_(1, -2.));
CHECK(assert_equal(expected,config0));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */

28
cpp/testTupleConfig.cpp
View File

@ -484,6 +484,34 @@ TEST(TupleConfig, partial_insert) {
CHECK(assert_equal(expected, init));
}
/* ************************************************************************* */
TEST(TupleConfig, update) {
TupleConfig3<PoseConfig, PointConfig, LamConfig> init, superset, expected;
PoseKey x1(1), x2(2);
PointKey l1(1), l2(2);
Pose2 pose1(1.0, 2.0, 0.3), pose2(3.0, 4.0, 5.0);
Point2 point1(2.0, 3.0), point2(5.0, 6.0);
init.insert(x1, pose1);
init.insert(l1, point1);
Pose2 pose1_(1.0, 2.0, 0.4);
Point2 point1_(2.0, 4.0);
superset.insert(x1, pose1_);
superset.insert(l1, point1_);
superset.insert(x2, pose2);
superset.insert(l2, point2);
init.update(superset);
expected.insert(x1, pose1_);
expected.insert(l1, point1_);
CHECK(assert_equal(expected, init));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */