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Fixed namespace return type bug with pointers in wrap. Matlab tests now pass.

release/4.3a0
Alex Cunningham 2012-02-06 01:59:45 +00:00
parent 9f1f38ac29
commit fab5717917
3 changed files with 12 additions and 11 deletions
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11
tests/matlab/testJacobianFactor.m
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@ -29,8 +29,9 @@ x1 = 3;
% the RHS % the RHS
b2=[-1;1.5;2;-1]; b2=[-1;1.5;2;-1];
model4 = SharedDiagonal([1;1;1;1]); sigmas = [1;1;1;1];
combined = JacobianFactor(x2, Ax2, l1, Al1, x1, Ax1, b2, model4); model4 = gtsamSharedDiagonal(sigmas);
combined = gtsamJacobianFactor(x2, Ax2, l1, Al1, x1, Ax1, b2, model4);
% eliminate the first variable (x2) in the combined factor, destructive ! % eliminate the first variable (x2) in the combined factor, destructive !
actualCG = combined.eliminateFirst(); actualCG = combined.eliminateFirst();
@ -49,7 +50,7 @@ S13 = [
+0.00,-8.94427 +0.00,-8.94427
]; ];
d=[2.23607;-1.56525]; d=[2.23607;-1.56525];
expectedCG = GaussianConditional(x2,d,R11,l1,S12,x1,S13,[1;1]); expectedCG = gtsamGaussianConditional(x2,d,R11,l1,S12,x1,S13,[1;1]);
% check if the result matches % check if the result matches
CHECK('actualCG.equals(expectedCG,1e-5)',actualCG.equals(expectedCG,1e-4)); CHECK('actualCG.equals(expectedCG,1e-5)',actualCG.equals(expectedCG,1e-4));
@ -68,8 +69,8 @@ Bx1 = [
% the RHS % the RHS
b1= [0.0;0.894427]; b1= [0.0;0.894427];
model2 = SharedDiagonal([1;1]); model2 = gtsamSharedDiagonal([1;1]);
expectedLF = JacobianFactor(l1, Bl1, x1, Bx1, b1, model2); expectedLF = gtsamJacobianFactor(l1, Bl1, x1, Bx1, b1, model2);
% check if the result matches the combined (reduced) factor % check if the result matches the combined (reduced) factor
% FIXME: JacobianFactor/GaussianFactor mismatch % FIXME: JacobianFactor/GaussianFactor mismatch

6
tests/matlab/testKalmanFilter.m
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@ -22,13 +22,13 @@
F = eye(2,2); F = eye(2,2);
B = eye(2,2); B = eye(2,2);
u = [1.0; 0.0]; u = [1.0; 0.0];
modelQ = SharedDiagonal([0.1;0.1]); modelQ = gtsamSharedDiagonal([0.1;0.1]);
Q = 0.01*eye(2,2); Q = 0.01*eye(2,2);
H = eye(2,2); H = eye(2,2);
z1 = [1.0, 0.0]'; z1 = [1.0, 0.0]';
z2 = [2.0, 0.0]'; z2 = [2.0, 0.0]';
z3 = [3.0, 0.0]'; z3 = [3.0, 0.0]';
modelR = SharedDiagonal([0.1;0.1]); modelR = gtsamSharedDiagonal([0.1;0.1]);
R = 0.01*eye(2,2); R = 0.01*eye(2,2);
%% Create the set of expected output TestValues %% Create the set of expected output TestValues
@ -48,7 +48,7 @@ P23 = inv(I22) + Q;
I33 = inv(P23) + inv(R); I33 = inv(P23) + inv(R);
%% Create an KalmanFilter object %% Create an KalmanFilter object
KF = KalmanFilter(2); KF = gtsamKalmanFilter(2);
%% Create the Kalman Filter initialization point %% Create the Kalman Filter initialization point
x_initial = [0.0;0.0]; x_initial = [0.0;0.0];

6
wrap/ReturnValue.cpp
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@ -59,17 +59,17 @@ void ReturnValue::wrap_result(FileWriter& file) const {
// second return value in pair // second return value in pair
if (isPtr2) // if we already have a pointer if (isPtr2) // if we already have a pointer
file.oss << " out[1] = wrap_shared_ptr(result.second,\"" << type2 << "\");\n"; file.oss << " out[1] = wrap_shared_ptr(result.second,\"" << matlabType2 << "\");\n";
else if (category2 == ReturnValue::CLASS) // if we are going to make one else if (category2 == ReturnValue::CLASS) // if we are going to make one
file.oss << " out[1] = wrap_shared_ptr(make_shared< " << cppType2 << " >(result.second),\"" << matlabType2 << "\");\n"; file.oss << " out[1] = wrap_shared_ptr(make_shared< " << cppType2 << " >(result.second),\"" << matlabType2 << "\");\n";
else else
file.oss << " out[1] = wrap< " << return_type(true,arg2) << " >(result.second);\n"; file.oss << " out[1] = wrap< " << return_type(true,arg2) << " >(result.second);\n";
} }
else if (isPtr1) else if (isPtr1)
file.oss << " out[0] = wrap_shared_ptr(result,\"" << type1 << "\");\n"; file.oss << " out[0] = wrap_shared_ptr(result,\"" << matlabType1 << "\");\n";
else if (category1 == ReturnValue::CLASS) else if (category1 == ReturnValue::CLASS)
file.oss << " out[0] = wrap_shared_ptr(make_shared< " << cppType1 << " >(result),\"" << matlabType1 << "\");\n"; file.oss << " out[0] = wrap_shared_ptr(make_shared< " << cppType1 << " >(result),\"" << matlabType1 << "\");\n";
else if (type1!="void") else if (matlabType1!="void")
file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(result);\n"; file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(result);\n";
} }