159 lines
4.9 KiB
C++
159 lines
4.9 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testExpressionMeta.cpp
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* @date October 14, 2014
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* @author Frank Dellaert
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* @brief Test meta-programming constructs for Expressions
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*/
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#include <gtsam_unstable/nonlinear/ExpressionFactor.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/base/Testable.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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namespace mpl = boost::mpl;
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#include <boost/mpl/assert.hpp>
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#include <boost/mpl/equal.hpp>
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template<class T> struct Incomplete;
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// Check generation of FunctionalNode
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typedef mpl::vector<Pose3, Point3> MyTypes;
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typedef FunctionalNode<Point2, MyTypes>::type Generated;
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//Incomplete<Generated> incomplete;
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BOOST_MPL_ASSERT((boost::is_same< Matrix2, Generated::Record::Jacobian2T >));
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// Try generating vectors of ExecutionTrace
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typedef mpl::vector<ExecutionTrace<Pose3>, ExecutionTrace<Point3> > ExpectedTraces;
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typedef mpl::transform<MyTypes, ExecutionTrace<MPL::_1> >::type MyTraces;
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BOOST_MPL_ASSERT((mpl::equal< ExpectedTraces, MyTraces >));
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template<class T>
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struct MakeTrace {
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typedef ExecutionTrace<T> type;
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};
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typedef mpl::transform<MyTypes, MakeTrace<MPL::_1> >::type MyTraces1;
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BOOST_MPL_ASSERT((mpl::equal< ExpectedTraces, MyTraces1 >));
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// Try generating vectors of Expression types
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typedef mpl::vector<Expression<Pose3>, Expression<Point3> > ExpectedExpressions;
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typedef mpl::transform<MyTypes, Expression<MPL::_1> >::type Expressions;
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BOOST_MPL_ASSERT((mpl::equal< ExpectedExpressions, Expressions >));
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// Try generating vectors of Jacobian types
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typedef mpl::vector<Matrix26, Matrix23> ExpectedJacobians;
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typedef mpl::transform<MyTypes, Jacobian<Point2, MPL::_1> >::type Jacobians;
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BOOST_MPL_ASSERT((mpl::equal< ExpectedJacobians, Jacobians >));
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// Try accessing a Jacobian
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typedef mpl::at_c<Jacobians, 1>::type Jacobian23; // base zero !
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BOOST_MPL_ASSERT((boost::is_same< Matrix23, Jacobian23>));
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/* ************************************************************************* */
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// Boost Fusion includes allow us to create/access values from MPL vectors
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#include <boost/fusion/include/mpl.hpp>
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#include <boost/fusion/include/at_c.hpp>
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// Create a value and access it
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TEST(ExpressionFactor, JacobiansValue) {
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using boost::fusion::at_c;
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Matrix23 expected;
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Jacobians jacobians;
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at_c<1>(jacobians) << 1, 2, 3, 4, 5, 6;
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Matrix23 actual = at_c<1>(jacobians);
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CHECK(actual.cols() == expected.cols());
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CHECK(actual.rows() == expected.rows());
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}
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/* ************************************************************************* */
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// Test out polymorphic transform
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#include <boost/fusion/include/make_vector.hpp>
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#include <boost/fusion/include/transform.hpp>
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#include <boost/utility/result_of.hpp>
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struct triple {
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template<class> struct result; // says we will provide result
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template<class F>
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struct result<F(int)> {
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typedef double type; // result for int argument
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};
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template<class F>
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struct result<F(const int&)> {
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typedef double type; // result for int argument
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};
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template<class F>
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struct result<F(const double &)> {
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typedef double type; // result for double argument
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};
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template<class F>
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struct result<F(double)> {
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typedef double type; // result for double argument
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};
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// actual function
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template<typename T>
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typename result<triple(T)>::type operator()(const T& x) const {
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return (double) x;
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}
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};
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TEST(ExpressionFactor, Triple) {
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typedef boost::fusion::vector<int, double> IntDouble;
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IntDouble H = boost::fusion::make_vector(1, 2.0);
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// Only works if I use Double2
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typedef boost::fusion::result_of::transform<IntDouble, triple>::type Result;
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typedef boost::fusion::vector<double, double> Double2;
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Double2 D = boost::fusion::transform(H, triple());
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using boost::fusion::at_c;
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DOUBLES_EQUAL(1.0, at_c<0>(D), 1e-9);
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DOUBLES_EQUAL(2.0, at_c<1>(D), 1e-9);
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}
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/* ************************************************************************* */
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#include <boost/fusion/include/invoke.hpp>
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#include <boost/functional/value_factory.hpp>
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// Test out polymorphic transform
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TEST(ExpressionFactor, Invoke) {
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std::plus<int> add;
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assert(invoke(add,boost::fusion::make_vector(1,1)) == 2);
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// Creating a Pose3 (is there another way?)
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boost::fusion::vector<Rot3, Point3> pair;
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Pose3 pose = boost::fusion::invoke(boost::value_factory<Pose3>(), pair);
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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