82 lines
2.3 KiB
C++
82 lines
2.3 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/bind.hpp>
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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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BOOST_FOREACH(const Vector& v, *this)
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gtsam::print(v);
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}
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/* ************************************************************************* */
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struct equalsVector : public std::binary_function<const Vector&, const Vector&, bool> {
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double tol_;
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equalsVector(double tol = 1e-9) : tol_(tol) {}
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bool operator()(const Vector& expected, const Vector& actual) {
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return equal_with_abs_tol(expected, actual,tol_);
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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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return equal(begin(),end(),expected.begin(),equalsVector(tol));
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// TODO: use boost::bind(&equal_with_abs_tol,_1, _2,tol)
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}
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/* ************************************************************************* */
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Errors Errors::operator-(const Errors& b) const {
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#ifndef NDEBUG
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size_t m = size();
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if (b.size()!=m)
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throw(std::invalid_argument("Errors::operator-: incompatible sizes"));
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#endif
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Errors result;
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Errors::const_iterator it = b.begin();
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BOOST_FOREACH(const Vector& ai, *this)
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result.push_back(ai - *(it++));
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return result;
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}
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/* ************************************************************************* */
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double dot(const Errors& a, const Errors& b) {
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#ifndef NDEBUG
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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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#endif
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double result = 0.0;
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Errors::const_iterator it = b.begin();
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BOOST_FOREACH(const Vector& ai, a)
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result += gtsam::dot(ai, *(it++));
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return result;
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}
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/* ************************************************************************* */
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void axpy(double alpha, const Errors& x, Errors& y) {
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Errors::const_iterator it = x.begin();
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BOOST_FOREACH(Vector& yi, y)
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axpy(alpha,*(it++),yi);
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}
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/* ************************************************************************* */
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void print(const Errors& a, const string& s) {
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a.print(s);
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}
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/* ************************************************************************* */
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} // gtsam
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