changed interface for both unwhitenedError and evaluateError
kartik arcot
parent
97269afe4b
commit
fcf339a31a
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@ -7,8 +7,10 @@ if(NOT DEFINED CMAKE_MACOSX_RPATH)
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endif()
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option(GTSAM_NO_BOOST_CPP17 "Require and use boost" ON)
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add_definitions(-Wno-deprecated-declarations)
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if (GTSAM_NO_BOOST_CPP17)
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add_definitions(-DNO_BOOST_CPP17)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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@ -57,9 +59,8 @@ endif()
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include(cmake/HandleGeneralOptions.cmake) # CMake build options
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# Libraries:
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if (GTSAM_NO_BOOST_CPP17)
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if (NOT GTSAM_NO_BOOST_CPP17)
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include(cmake/HandleBoost.cmake) # Boost
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add_definitions(-DNO_BOOST_CPP17)
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endif()
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include(cmake/HandleCCache.cmake) # ccache
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@ -33,7 +33,28 @@
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namespace gtsam {
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/* ************************************************************************* */
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/*
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* Some typedef based aliases to compile these interfaces without boost if
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* the NO_BOOST_C17 flag is enabled
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*/
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#ifdef NO_BOOST_CPP17
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// These typedefs and aliases will help with making the evaluateError interface
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// independent of boost
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#define OptionalNone nullptr
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template <typename T = void>
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using OptionalMatrixT = Matrix*;
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using OptionalMatrix = Matrix*;
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// These typedefs and aliases will help with making the unwhitenedError interface
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// independent of boost
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using OptionalMatrixVec = std::vector<Matrix>*;
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#else
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// creating a none value to use when declaring our interfaces
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#define OptionalNone boost::none
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template <typename T = void>
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using OptionalMatrixT = boost::optional<Matrix&>;
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using OptionalMatrix = boost::optional<Matrix&>;
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using OptionalMatrixVec = boost::optional<std::vector<Matrix>&>;
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#endif
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/**
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* Nonlinear factor base class
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*
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@ -206,7 +227,6 @@ protected:
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NoiseModelFactor(const SharedNoiseModel& noiseModel) : noiseModel_(noiseModel) {}
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public:
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/** Print */
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void print(const std::string& s = "",
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const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
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@ -230,8 +250,7 @@ public:
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* If the optional arguments is specified, it should compute
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* both the function evaluation and its derivative(s) in H.
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*/
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virtual Vector unwhitenedError(const Values& x,
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boost::optional<std::vector<Matrix>&> H = boost::none) const = 0;
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virtual Vector unwhitenedError(const Values& x, OptionalMatrixVec H = OptionalNone) const = 0;
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/**
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* Vector of errors, whitened
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@ -402,7 +421,7 @@ class NoiseModelFactorN
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/// N is the number of variables (N-way factor)
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enum { N = sizeof...(ValueTypes) };
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protected:
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protected:
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using Base = NoiseModelFactor;
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using This = NoiseModelFactorN<ValueTypes...>;
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@ -428,8 +447,6 @@ class NoiseModelFactorN
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/* Like std::void_t, except produces `boost::optional<Matrix&>` instead of
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* `void`. Used to expand fixed-type parameter-packs with same length as
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* ValueTypes. */
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template <typename T>
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using OptionalMatrix = boost::optional<Matrix&>;
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/* Like std::void_t, except produces `Key` instead of `void`. Used to expand
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* fixed-type parameter-packs with same length as ValueTypes. */
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@ -541,7 +558,7 @@ class NoiseModelFactorN
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*/
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Vector unwhitenedError(
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const Values& x,
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boost::optional<std::vector<Matrix>&> H = boost::none) const override {
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OptionalMatrixVec H = OptionalNone) const override {
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return unwhitenedError(boost::mp11::index_sequence_for<ValueTypes...>{}, x,
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H);
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}
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@ -573,7 +590,7 @@ class NoiseModelFactorN
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* @param[out] H The Jacobian with respect to each variable (optional).
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*/
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virtual Vector evaluateError(const ValueTypes&... x,
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OptionalMatrix<ValueTypes>... H) const = 0;
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OptionalMatrixT<ValueTypes>... H) const = 0;
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/// @}
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@ -587,7 +604,7 @@ class NoiseModelFactorN
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* e.g. `const Vector error = factor.evaluateError(pose, point);`
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*/
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inline Vector evaluateError(const ValueTypes&... x) const {
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return evaluateError(x..., OptionalMatrix<ValueTypes>()...);
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return evaluateError(x..., OptionalMatrixT<ValueTypes>()...);
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}
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/** Some (but not all) optional Jacobians are omitted (function overload)
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@ -599,7 +616,7 @@ class NoiseModelFactorN
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inline Vector evaluateError(const ValueTypes&... x,
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OptionalJacArgs&&... H) const {
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return evaluateError(x..., std::forward<OptionalJacArgs>(H)...,
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boost::none);
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OptionalNone);
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}
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/// @}
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@ -615,7 +632,7 @@ class NoiseModelFactorN
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inline Vector unwhitenedError(
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boost::mp11::index_sequence<Indices...>, //
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const Values& x,
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boost::optional<std::vector<Matrix>&> H = boost::none) const {
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OptionalMatrixVec H = OptionalNone) const {
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if (this->active(x)) {
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if (H) {
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return evaluateError(x.at<ValueTypes>(keys_[Indices])...,
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