48 lines
1.2 KiB
C++
48 lines
1.2 KiB
C++
/**
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* @file Errors.cpp
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* @brief Factor Graph Configuration
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* @brief Errors
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* @author Carlos Nieto
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* @author Christian Potthast
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*/
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#include <boost/foreach.hpp>
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#include "Errors.h"
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using namespace std;
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namespace gtsam {
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/* ************************************************************************* */
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void Errors::print(const std::string& s) const {
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odprintf("%s:\n", s.c_str());
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for (size_t i=0;i<size();i++) {
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odprintf("%d:", i);
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gtsam::print((*this)[i]);
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}
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}
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/* ************************************************************************* */
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bool Errors::equals(const Errors& expected, double tol) const {
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if( size() != expected.size() ) return false;
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for (size_t i=0;i<size();i++)
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if(!equal_with_abs_tol(expected[i],(*this)[i],tol))
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return false;
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return true;
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}
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/* ************************************************************************* */
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double dot(const Errors& a, const Errors& b) {
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size_t m = a.size();
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if (b.size()!=m)
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throw(std::invalid_argument("Errors::dot: incompatible sizes"));
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double result = 0.0;
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for (size_t i = 0; i < m; i++)
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result += gtsam::dot(a[i], b[i]);
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return result;
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}
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/* ************************************************************************* */
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} // gtsam
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