12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge commit '69c480490e0bc18ea897f1c96d8dd0bdc9b50fd5' into 2.0_prep (trunk r9251) 

Conflicts:
	gtsam/linear/SubgraphSolver.h
	tests/Makefile.am
release/4.3a0
Richard Roberts 2012-02-15 23:43:25 +00:00
parent 3ee1b88c3d b96b03a733
commit 5939ec2371
120 changed files with 709 additions and 609 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
gtsam.h
View File

@ -187,7 +187,6 @@ class Pose2 {
class Pose3 {
Pose3();
Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
Pose3(Vector v);
Pose3(Matrix t);
Pose3(const gtsam::Pose2& pose2);
static gtsam::Pose3 Expmap(Vector v);
@ -203,10 +202,33 @@ class Pose3 {
gtsam::Pose3 between(const gtsam::Pose3& p2);
gtsam::Pose3 retract(Vector v);
gtsam::Pose3 retractFirstOrder(Vector v);
Vector localCoordinates(const gtsam::Pose3& T2) const;
gtsam::Point3 translation() const;
gtsam::Rot3 rotation() const;
};
class CalibratedCamera {
CalibratedCamera();
CalibratedCamera(const gtsam::Pose3& pose);
CalibratedCamera(const Vector& v);
void print(string s) const;
bool equals(const gtsam::Pose3& pose, double tol) const;
gtsam::Pose3 pose() const;
gtsam::CalibratedCamera compose(const gtsam::CalibratedCamera& c) const;
gtsam::CalibratedCamera inverse() const;
gtsam::CalibratedCamera level(const gtsam::Pose2& pose2, double height);
gtsam::CalibratedCamera retract(const Vector& d) const;
Vector localCoordinates(const gtsam::CalibratedCamera& T2) const;
gtsam::Point2 project(const gtsam::Point3& point) const;
static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
};
//*************************************************************************
// inference
//*************************************************************************

19
gtsam/base/LieVector.h
View File

@ -77,22 +77,33 @@ struct LieVector : public Vector, public DerivedValue<LieVector> {
return LieVector();
}
// Note: Manually specifying the 'gtsam' namespace for the optional Matrix arguments
// This is a work-around for linux g++ 4.6.1 that incorrectly selects the Eigen::Matrix class
// instead of the gtsam::Matrix class. This is related to deriving this class from an Eigen Vector
// as the other geometry objects (Point3, Rot3, etc.) have this problem
/** compose with another object */
inline LieVector compose(const LieVector& p) const {
inline LieVector compose(const LieVector& p,
boost::optional<gtsam::Matrix&> H1=boost::none,
boost::optional<gtsam::Matrix&> H2=boost::none) const {
if(H1) *H1 = eye(dim());
if(H2) *H2 = eye(p.dim());
return LieVector(vector() + p);
}
/** between operation */
inline LieVector between(const LieVector& l2,
boost::optional<Matrix&> H1=boost::none,
boost::optional<Matrix&> H2=boost::none) const {
boost::optional<gtsam::Matrix&> H1=boost::none,
boost::optional<gtsam::Matrix&> H2=boost::none) const {
if(H1) *H1 = -eye(dim());
if(H2) *H2 = eye(l2.dim());
return LieVector(l2.vector() - vector());
}
/** invert the object and yield a new one */
inline LieVector inverse() const {
inline LieVector inverse(boost::optional<gtsam::Matrix&> H=boost::none) const {
if(H) *H = -eye(dim());
return LieVector(-1.0 * vector());
}

41
gtsam/base/timing.cpp
View File

@ -16,8 +16,10 @@
* @date Oct 5, 2010
*/
#include <math.h>
#include <stdio.h>
#include <iostream>
#include <iomanip>
#include <sys/time.h>
#include <stdlib.h>
#include <boost/foreach.hpp>
@ -41,6 +43,7 @@ void TimingOutline::add(size_t usecs) {
t_ += usecs;
tIt_ += usecs;
++ n_;
history_.push_back(usecs);
}
/* ************************************************************************* */
@ -83,6 +86,44 @@ void TimingOutline::print(const std::string& outline) const {
}
}
void TimingOutline::print2(const std::string& outline) const {
const int w1 = 24, w2 = 3, w3 = 6, precision = 3;
const double selfTotal = double(t_)/(1000000.0),
selfMean = selfTotal/double(n_);
// const double childMean = double(time())/(1000000.0*n_);
// compute standard deviation
double acc = 0.0;
BOOST_FOREACH(const size_t &t, history_) {
const double tmp = double(t)/1000000.0 - selfMean ;
acc += (tmp*tmp);
}
const double selfStd = sqrt(acc);
const std::string label = label_ + ": " ;
if ( n_ == 0 ) {
std::cout << label << std::fixed << std::setprecision(precision) << double(time())/(1000000.0) << " seconds" << std::endl;
}
else {
std::cout << std::setw(w1) << label ;
std::cout << std::setiosflags(std::ios::right) << std::setw(w2) << n_ << " (times), "
<< std::setiosflags(std::ios::right) << std::fixed << std::setw(w3) << std::setprecision(precision) << selfMean << " (mean), "
<< std::setiosflags(std::ios::right) << std::fixed << std::setw(w3) << std::setprecision(precision) << selfStd << " (std),"
<< std::setiosflags(std::ios::right) << std::fixed << std::setw(w3) << std::setprecision(precision) << selfTotal << " (total)"
//<< std::setprecision(precision) << std::setw(w3) << std::fixed << childMean << " (child-mean)"
<< std::endl;
}
for(size_t i=0; i<children_.size(); ++i) {
if(children_[i]) {
std::string childOutline(outline);
childOutline += " ";
children_[i]->print2(childOutline);
}
}
}
/* ************************************************************************* */
const boost::shared_ptr<TimingOutline>& TimingOutline::child(size_t child, const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr) {
assert(thisPtr.lock().get() == this);

9
gtsam/base/timing.h
View File

@ -35,6 +35,7 @@ protected:
size_t tMin_;
size_t n_;
std::string label_;
std::vector<size_t> history_;
boost::weak_ptr<TimingOutline> parent_;
std::vector<boost::shared_ptr<TimingOutline> > children_;
struct timeval t0_;
@ -50,6 +51,8 @@ public:
void print(const std::string& outline = "") const;
void print2(const std::string& outline = "") const;
const boost::shared_ptr<TimingOutline>& child(size_t child, const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr);
void tic();
@ -168,11 +171,17 @@ inline void ticPush_(const std::string& prefix, const std::string& id) {
tic_(id);
}
void ticPop_(const std::string& prefix, const std::string& id);
inline void tictoc_print_() {
timing.print();
timingRoot->print();
}
/* print mean and standard deviation */
inline void tictoc_print2_() {
timingRoot->print2();
}
#ifdef ENABLE_TIMING
inline double _tic() { return _tic_(); }
inline double _toc(double t) { return _toc_(t); }

3
gtsam/inference/FactorGraph.h
View File

@ -138,6 +138,9 @@ template<class CONDITIONAL, class CLIQUE> class BayesTree;
/** return the number of factors and NULLS */
size_t size() const { return factors_.size();}
/** Simple check for an empty graph - faster than comparing size() to zero */
bool empty() const { return factors_.empty(); }
/** const cast to the underlying vector of factors */
operator const std::vector<sharedFactor>&() const { return factors_; }

34
gtsam/inference/VariableIndex.cpp
View File

@ -21,6 +21,8 @@
namespace gtsam {
using namespace std;
/* ************************************************************************* */
void VariableIndex::permute(const Permutation& permutation) {
#ifndef NDEBUG
@ -36,7 +38,7 @@ void VariableIndex::permute(const Permutation& permutation) {
/* ************************************************************************* */
bool VariableIndex::equals(const VariableIndex& other, double tol) const {
if(this->nEntries_ == other.nEntries_ && this->nFactors_ == other.nFactors_) {
for(size_t var=0; var < std::max(this->index_.size(), other.index_.size()); ++var)
for(size_t var=0; var < max(this->index_.size(), other.index_.size()); ++var)
if(var >= this->index_.size() || var >= other.index_.size()) {
if(!((var >= this->index_.size() && other.index_[var].empty()) ||
(var >= other.index_.size() && this->index_[var].empty())))
@ -49,21 +51,33 @@ bool VariableIndex::equals(const VariableIndex& other, double tol) const {
}
/* ************************************************************************* */
void VariableIndex::print(const std::string& str) const {
std::cout << str << "\n";
std::cout << "nEntries = " << this->nEntries_ << ", nFactors = " << this->nFactors_ << "\n";
void VariableIndex::print(const string& str) const {
cout << str << "\n";
cout << "nEntries = " << nEntries() << ", nFactors = " << nFactors() << "\n";
Index var = 0;
BOOST_FOREACH(const Factors& variable, index_.container()) {
Permutation::const_iterator rvar = find(index_.permutation().begin(), index_.permutation().end(), var);
assert(rvar != index_.permutation().end());
std::cout << "var " << (rvar-index_.permutation().begin()) << ":";
BOOST_FOREACH(const size_t factor, variable) {
std::cout << " " << factor;
}
std::cout << "\n";
cout << "var " << (rvar-index_.permutation().begin()) << ":";
BOOST_FOREACH(const size_t factor, variable)
cout << " " << factor;
cout << "\n";
++ var;
}
std::cout << std::flush;
cout << flush;
}
/* ************************************************************************* */
void VariableIndex::outputMetisFormat(ostream& os) const {
os << size() << " " << nFactors() << "\n";
// run over variables, which will be hyper-edges.
BOOST_FOREACH(const Factors& variable, index_.container()) {
// every variable is a hyper-edge covering its factors
BOOST_FOREACH(const size_t factor, variable)
os << (factor+1) << " "; // base 1
os << "\n";
}
os << flush;
}
}

6
gtsam/inference/VariableIndex.h
View File

@ -101,6 +101,12 @@ public:
/** Print the variable index (for unit tests and debugging). */
void print(const std::string& str = "VariableIndex: ") const;
/**
* Output dual hypergraph to Metis file format for use with hmetis
* In the dual graph, variables are hyperedges, factors are nodes.
*/
void outputMetisFormat(std::ostream& os) const;
/// @}
/// @name Advanced Interface

98
gtsam/linear/IterativeOptimizationParameters.h
View File

@ -6,14 +6,12 @@
#pragma once
#include <vector>
#include <string>
#include <map>
#include <boost/shared_ptr.hpp>
#include <gtsam/linear/VectorValues.h>
namespace gtsam {
struct DimSpec;
// a container for all related parameters
struct IterativeOptimizationParameters {
@ -27,83 +25,39 @@ public:
} verbosityLevel;
public:
int maxIterations_;
int reset_; // number of iterations before reset, for cg and gmres
double epsilon_; // relative error
size_t minIterations_;
size_t maxIterations_;
size_t reset_; // number of iterations before reset, for cg and gmres
double epsilon_rel_; // relative error
double epsilon_abs_; // absolute error
verbosityLevel verbosity_;
size_t nReduce_ ;
boost::shared_ptr<DimSpec> skeleton_spec_;
bool est_cond_ ;
std::map<std::string, std::string> sandbox_;
public:
IterativeOptimizationParameters() :
maxIterations_(100), reset_(101), epsilon_(1e-5), epsilon_abs_(1e-5),
verbosity_(SILENT), nReduce_(0), skeleton_spec_(), est_cond_(false) {
}
IterativeOptimizationParameters()
: minIterations_(1), maxIterations_(500), reset_(501),
epsilon_rel_(1e-3), epsilon_abs_(1e-3), verbosity_(SILENT), est_cond_(false) {}
IterativeOptimizationParameters(
const IterativeOptimizationParameters &parameters) :
maxIterations_(parameters.maxIterations_), reset_(parameters.reset_),
epsilon_(parameters.epsilon_), epsilon_abs_(parameters.epsilon_abs_),
verbosity_(parameters.verbosity_),
nReduce_(parameters.nReduce_),
skeleton_spec_(parameters.skeleton_spec_),
est_cond_(parameters.est_cond_){
}
const IterativeOptimizationParameters &p) :
minIterations_(p.minIterations_), maxIterations_(p.maxIterations_), reset_(p.reset_),
epsilon_rel_(p.epsilon_rel_), epsilon_abs_(p.epsilon_abs_), verbosity_(p.verbosity_),
est_cond_(p.est_cond_){ }
IterativeOptimizationParameters(int maxIterations, double epsilon,
double epsilon_abs, verbosityLevel verbosity = ERROR, int reset = -1, bool est_cond=false) :
maxIterations_(maxIterations), reset_(reset), epsilon_(epsilon),
epsilon_abs_(epsilon_abs), verbosity_(verbosity),
nReduce_(0),
skeleton_spec_(),
est_cond_(est_cond) {
if (reset_ == -1)
reset_ = maxIterations_ + 1;
}
IterativeOptimizationParameters(size_t minIterations, size_t maxIterations, size_t reset,
double epsilon, double epsilon_abs, verbosityLevel verbosity = ERROR, bool est_cond = false) :
minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset),
epsilon_rel_(epsilon), epsilon_abs_(epsilon_abs), verbosity_(verbosity), est_cond_(est_cond) {}
int maxIterations() const {
return maxIterations_;
}
int reset() const {
return reset_;
}
double epsilon() const {
return epsilon_;
}
double epsilon_abs() const {
return epsilon_abs_;
}
verbosityLevel verbosity() const {
return verbosity_;
}
bool est_cond() const {
return est_cond_ ;
}
};
struct DimSpec: public std::vector<size_t> {
typedef std::vector<size_t> Base;
typedef boost::shared_ptr<DimSpec> shared_ptr;
DimSpec() :
Base() {
}
DimSpec(size_t n) :
Base(n) {
}
DimSpec(size_t n, size_t init) :
Base(n, init) {
}
DimSpec(const VectorValues &V) :
Base(V.size()) {
const size_t n = V.size();
for (size_t i = 0; i < n; ++i) {
(*this)[i] = V[i].rows();
}
}
size_t minIterations() const { return minIterations_; }
size_t maxIterations() const { return maxIterations_; }
size_t reset() const { return reset_; }
double epsilon() const { return epsilon_rel_; }
double epsilon_rel() const { return epsilon_rel_; }
double epsilon_abs() const { return epsilon_abs_; }
verbosityLevel verbosity() const { return verbosity_; }
bool est_cond() const { return est_cond_ ; }
};
}

34
gtsam/linear/IterativeSolver.h
View File

@ -18,6 +18,7 @@
#pragma once
#include <boost/shared_ptr.hpp>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/inference/VariableIndex.h>
#include <gtsam/linear/VectorValues.h>
@ -29,44 +30,31 @@ class IterativeSolver {
public:
typedef boost::shared_ptr<IterativeSolver> shared_ptr;
typedef IterativeOptimizationParameters Parameters;
typedef Parameters::shared_ptr sharedParameters;
protected:
GaussianFactorGraph::shared_ptr graph_;
VariableIndex::shared_ptr variableIndex_;
Parameters::shared_ptr parameters_ ;
public:
IterativeSolver(
const GaussianFactorGraph::shared_ptr& factorGraph,
const VariableIndex::shared_ptr& variableIndex):
graph_(factorGraph), variableIndex_(variableIndex),
parameters_(new Parameters()) { }
IterativeSolver(): parameters_(new Parameters()) {}
IterativeSolver(
const GaussianFactorGraph::shared_ptr& factorGraph,
const VariableIndex::shared_ptr& variableIndex,
const Parameters::shared_ptr& parameters):
graph_(factorGraph), variableIndex_(variableIndex), parameters_(parameters) { }
IterativeSolver(const IterativeSolver &solver)
: parameters_(solver.parameters_) {}
IterativeSolver():
parameters_(new IterativeOptimizationParameters()) {}
IterativeSolver(const Parameters::shared_ptr& parameters)
: parameters_(parameters) {}
IterativeSolver(const IterativeSolver &solver):
parameters_(solver.parameters_) {}
IterativeSolver(const IterativeOptimizationParameters &parameters):
parameters_(new IterativeOptimizationParameters(parameters)) {}
IterativeSolver(const sharedParameters parameters):
parameters_(parameters) {}
IterativeSolver(const Parameters &parameters)
: parameters_(new Parameters(parameters)) {}
virtual ~IterativeSolver() {}
virtual VectorValues::shared_ptr optimize () = 0;
Parameters::shared_ptr parameters() { return parameters_ ; }
};
}

2
gtsam/linear/JacobianFactor.h
View File

@ -289,7 +289,7 @@ namespace gtsam {
private:
// Friend HessianFactor to facilitate convertion constructors
// Friend HessianFactor to facilitate conversion constructors
friend class HessianFactor;
// Friend unit tests (see also forward declarations above)

300
gtsam/linear/SubgraphPreconditioner.cpp
View File

@ -1,150 +1,150 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file SubgraphPreconditioner.cpp
* @date Dec 31, 2009
* @author: Frank Dellaert
*/
#include <boost/foreach.hpp>
#include <gtsam/linear/SubgraphPreconditioner.h>
#include <gtsam/linear/JacobianFactor.h>
#include <gtsam/linear/GaussianFactorGraph.h>
using namespace std;
namespace gtsam {
/* ************************************************************************* */
SubgraphPreconditioner::SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2,
const sharedBayesNet& Rc1, const sharedValues& xbar) :
Ab1_(Ab1), Ab2_(Ab2), Rc1_(Rc1), xbar_(xbar), b2bar_(gaussianErrors_(*Ab2_,*xbar)) {
}
/* ************************************************************************* */
// x = xbar + inv(R1)*y
VectorValues SubgraphPreconditioner::x(const VectorValues& y) const {
#ifdef VECTORBTREE
if (!y.cloned(*xbar_)) throw
invalid_argument("SubgraphPreconditioner::x: y needs to be cloned from xbar");
#endif
VectorValues x = y;
backSubstituteInPlace(*Rc1_,x);
x += *xbar_;
return x;
}
// SubgraphPreconditioner SubgraphPreconditioner::add_priors(double sigma) const {
// SubgraphPreconditioner result = *this ;
// result.Ab2_ = sharedFG(new GaussianFactorGraph(Ab2_->add_priors(sigma))) ;
// return result ;
// }
/* ************************************************************************* */
double error(const SubgraphPreconditioner& sp, const VectorValues& y) {
Errors e(y);
VectorValues x = sp.x(y);
Errors e2 = gaussianErrors(*sp.Ab2(),x);
return 0.5 * (dot(e, e) + dot(e2,e2));
}
/* ************************************************************************* */
// gradient is y + inv(R1')*A2'*(A2*inv(R1)*y-b2bar),
VectorValues gradient(const SubgraphPreconditioner& sp, const VectorValues& y) {
VectorValues x = sp.x(y); // x = inv(R1)*y
Errors e2 = gaussianErrors(*sp.Ab2(),x);
VectorValues gx2 = VectorValues::Zero(y);
gtsam::transposeMultiplyAdd(*sp.Ab2(),1.0,e2,gx2); // A2'*e2;
VectorValues gy2 = gtsam::backSubstituteTranspose(*sp.Rc1(), gx2); // inv(R1')*gx2
return y + gy2;
}
/* ************************************************************************* */
// Apply operator A, A*y = [I;A2*inv(R1)]*y = [y; A2*inv(R1)*y]
Errors operator*(const SubgraphPreconditioner& sp, const VectorValues& y) {
Errors e(y);
// Add A2 contribution
VectorValues x = y; // TODO avoid ?
gtsam::backSubstituteInPlace(*sp.Rc1(), x); // x=inv(R1)*y
Errors e2 = *sp.Ab2() * x; // A2*x
e.splice(e.end(), e2);
return e;
}
/* ************************************************************************* */
// In-place version that overwrites e
void multiplyInPlace(const SubgraphPreconditioner& sp, const VectorValues& y, Errors& e) {
Errors::iterator ei = e.begin();
for ( Index i = 0 ; i < y.size() ; ++i, ++ei ) {
*ei = y[i];
}
// Add A2 contribution
VectorValues x = y; // TODO avoid ?
gtsam::backSubstituteInPlace(*sp.Rc1(), x); // x=inv(R1)*y
gtsam::multiplyInPlace(*sp.Ab2(),x,ei); // use iterator version
}
/* ************************************************************************* */
// Apply operator A', A'*e = [I inv(R1')*A2']*e = e1 + inv(R1')*A2'*e2
VectorValues operator^(const SubgraphPreconditioner& sp, const Errors& e) {
Errors::const_iterator it = e.begin();
VectorValues y = sp.zero();
for ( Index i = 0 ; i < y.size() ; ++i, ++it )
y[i] = *it ;
sp.transposeMultiplyAdd2(1.0,it,e.end(),y);
return y;
}
/* ************************************************************************* */
// y += alpha*A'*e
void transposeMultiplyAdd
(const SubgraphPreconditioner& sp, double alpha, const Errors& e, VectorValues& y) {
Errors::const_iterator it = e.begin();
for ( Index i = 0 ; i < y.size() ; ++i, ++it ) {
const Vector& ei = *it;
axpy(alpha,ei,y[i]);
}
sp.transposeMultiplyAdd2(alpha,it,e.end(),y);
}
/* ************************************************************************* */
// y += alpha*inv(R1')*A2'*e2
void SubgraphPreconditioner::transposeMultiplyAdd2 (double alpha,
Errors::const_iterator it, Errors::const_iterator end, VectorValues& y) const {
// create e2 with what's left of e
// TODO can we avoid creating e2 by passing iterator to transposeMultiplyAdd ?
Errors e2;
while (it != end)
e2.push_back(*(it++));
VectorValues x = VectorValues::Zero(y); // x = 0
gtsam::transposeMultiplyAdd(*Ab2_,1.0,e2,x); // x += A2'*e2
axpy(alpha, gtsam::backSubstituteTranspose(*Rc1_, x), y); // y += alpha*inv(R1')*x
}
/* ************************************************************************* */
void SubgraphPreconditioner::print(const std::string& s) const {
cout << s << endl;
Ab2_->print();
}
} // nsamespace gtsam
///* ----------------------------------------------------------------------------
//
// * GTSAM Copyright 2010, Georgia Tech Research Corporation,
// * Atlanta, Georgia 30332-0415
// * All Rights Reserved
// * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
//
// * See LICENSE for the license information
//
// * -------------------------------------------------------------------------- */
//
///**
// * @file SubgraphPreconditioner.cpp
// * @date Dec 31, 2009
// * @author: Frank Dellaert
// */
//
//#include <boost/foreach.hpp>
//#include <gtsam/linear/SubgraphPreconditioner.h>
//#include <gtsam/linear/JacobianFactor.h>
//#include <gtsam/linear/GaussianFactorGraph.h>
//
//using namespace std;
//
//namespace gtsam {
//
// /* ************************************************************************* */
// SubgraphPreconditioner::SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2,
// const sharedBayesNet& Rc1, const sharedValues& xbar) :
// Ab1_(Ab1), Ab2_(Ab2), Rc1_(Rc1), xbar_(xbar), b2bar_(gaussianErrors_(*Ab2_,*xbar)) {
// }
//
// /* ************************************************************************* */
// // x = xbar + inv(R1)*y
// VectorValues SubgraphPreconditioner::x(const VectorValues& y) const {
//#ifdef VECTORBTREE
// if (!y.cloned(*xbar_)) throw
// invalid_argument("SubgraphPreconditioner::x: y needs to be cloned from xbar");
//#endif
// VectorValues x = y;
// backSubstituteInPlace(*Rc1_,x);
// x += *xbar_;
// return x;
// }
//
//// SubgraphPreconditioner SubgraphPreconditioner::add_priors(double sigma) const {
//// SubgraphPreconditioner result = *this ;
//// result.Ab2_ = sharedFG(new GaussianFactorGraph(Ab2_->add_priors(sigma))) ;
//// return result ;
//// }
//
// /* ************************************************************************* */
// double error(const SubgraphPreconditioner& sp, const VectorValues& y) {
//
// Errors e(y);
// VectorValues x = sp.x(y);
// Errors e2 = gaussianErrors(*sp.Ab2(),x);
// return 0.5 * (dot(e, e) + dot(e2,e2));
// }
//
// /* ************************************************************************* */
// // gradient is y + inv(R1')*A2'*(A2*inv(R1)*y-b2bar),
// VectorValues gradient(const SubgraphPreconditioner& sp, const VectorValues& y) {
// VectorValues x = sp.x(y); // x = inv(R1)*y
// Errors e2 = gaussianErrors(*sp.Ab2(),x);
// VectorValues gx2 = VectorValues::Zero(y);
// gtsam::transposeMultiplyAdd(*sp.Ab2(),1.0,e2,gx2); // A2'*e2;
// VectorValues gy2 = gtsam::backSubstituteTranspose(*sp.Rc1(), gx2); // inv(R1')*gx2
// return y + gy2;
// }
//
// /* ************************************************************************* */
// // Apply operator A, A*y = [I;A2*inv(R1)]*y = [y; A2*inv(R1)*y]
// Errors operator*(const SubgraphPreconditioner& sp, const VectorValues& y) {
//
// Errors e(y);
//
// // Add A2 contribution
// VectorValues x = y; // TODO avoid ?
// gtsam::backSubstituteInPlace(*sp.Rc1(), x); // x=inv(R1)*y
// Errors e2 = *sp.Ab2() * x; // A2*x
// e.splice(e.end(), e2);
//
// return e;
// }
//
// /* ************************************************************************* */
// // In-place version that overwrites e
// void multiplyInPlace(const SubgraphPreconditioner& sp, const VectorValues& y, Errors& e) {
//
//
// Errors::iterator ei = e.begin();
// for ( Index i = 0 ; i < y.size() ; ++i, ++ei ) {
// *ei = y[i];
// }
//
// // Add A2 contribution
// VectorValues x = y; // TODO avoid ?
// gtsam::backSubstituteInPlace(*sp.Rc1(), x); // x=inv(R1)*y
// gtsam::multiplyInPlace(*sp.Ab2(),x,ei); // use iterator version
// }
//
// /* ************************************************************************* */
// // Apply operator A', A'*e = [I inv(R1')*A2']*e = e1 + inv(R1')*A2'*e2
// VectorValues operator^(const SubgraphPreconditioner& sp, const Errors& e) {
//
// Errors::const_iterator it = e.begin();
// VectorValues y = sp.zero();
// for ( Index i = 0 ; i < y.size() ; ++i, ++it )
// y[i] = *it ;
// sp.transposeMultiplyAdd2(1.0,it,e.end(),y);
// return y;
// }
//
// /* ************************************************************************* */
// // y += alpha*A'*e
// void transposeMultiplyAdd
// (const SubgraphPreconditioner& sp, double alpha, const Errors& e, VectorValues& y) {
//
//
// Errors::const_iterator it = e.begin();
// for ( Index i = 0 ; i < y.size() ; ++i, ++it ) {
// const Vector& ei = *it;
// axpy(alpha,ei,y[i]);
// }
// sp.transposeMultiplyAdd2(alpha,it,e.end(),y);
// }
//
// /* ************************************************************************* */
// // y += alpha*inv(R1')*A2'*e2
// void SubgraphPreconditioner::transposeMultiplyAdd2 (double alpha,
// Errors::const_iterator it, Errors::const_iterator end, VectorValues& y) const {
//
// // create e2 with what's left of e
// // TODO can we avoid creating e2 by passing iterator to transposeMultiplyAdd ?
// Errors e2;
// while (it != end)
// e2.push_back(*(it++));
//
// VectorValues x = VectorValues::Zero(y); // x = 0
// gtsam::transposeMultiplyAdd(*Ab2_,1.0,e2,x); // x += A2'*e2
// axpy(alpha, gtsam::backSubstituteTranspose(*Rc1_, x), y); // y += alpha*inv(R1')*x
// }
//
// /* ************************************************************************* */
// void SubgraphPreconditioner::print(const std::string& s) const {
// cout << s << endl;
// Ab2_->print();
// }
//} // nsamespace gtsam

232
gtsam/linear/SubgraphPreconditioner.h
View File

@ -1,116 +1,116 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file SubgraphPreconditioner.h
* @date Dec 31, 2009
* @author Frank Dellaert
*/
#pragma once
#include <gtsam/linear/JacobianFactor.h>
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/nonlinear/Ordering.h> // FIXME shouldn't have nonlinear things in linear
namespace gtsam {
/**
* Subgraph conditioner class, as explained in the RSS 2010 submission.
* Starting with a graph A*x=b, we split it in two systems A1*x=b1 and A2*x=b2
* We solve R1*x=c1, and make the substitution y=R1*x-c1.
* To use the class, give the Bayes Net R1*x=c1 and Graph A2*x=b2.
* Then solve for yhat using CG, and solve for xhat = system.x(yhat).
*/
class SubgraphPreconditioner {
public:
typedef boost::shared_ptr<const GaussianBayesNet> sharedBayesNet;
typedef boost::shared_ptr<const FactorGraph<JacobianFactor> > sharedFG;
typedef boost::shared_ptr<const VectorValues> sharedValues;
typedef boost::shared_ptr<const Errors> sharedErrors;
private:
sharedFG Ab1_, Ab2_;
sharedBayesNet Rc1_;
sharedValues xbar_;
sharedErrors b2bar_; /** b2 - A2*xbar */
public:
SubgraphPreconditioner();
/**
* Constructor
* @param Ab1: the Graph A1*x=b1
* @param Ab2: the Graph A2*x=b2
* @param Rc1: the Bayes Net R1*x=c1
* @param xbar: the solution to R1*x=c1
*/
SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2, const sharedBayesNet& Rc1, const sharedValues& xbar);
/** Access Ab1 */
const sharedFG& Ab1() const { return Ab1_; }
/** Access Ab2 */
const sharedFG& Ab2() const { return Ab2_; }
/** Access Rc1 */
const sharedBayesNet& Rc1() const { return Rc1_; }
/**
* Add zero-mean i.i.d. Gaussian prior terms to each variable
* @param sigma Standard deviation of Gaussian
*/
// SubgraphPreconditioner add_priors(double sigma) const;
/* x = xbar + inv(R1)*y */
VectorValues x(const VectorValues& y) const;
/* A zero VectorValues with the structure of xbar */
VectorValues zero() const {
VectorValues V(VectorValues::Zero(*xbar_)) ;
return V ;
}
/**
* Add constraint part of the error only, used in both calls above
* y += alpha*inv(R1')*A2'*e2
* Takes a range indicating e2 !!!!
*/
void transposeMultiplyAdd2(double alpha, Errors::const_iterator begin,
Errors::const_iterator end, VectorValues& y) const;
/** print the object */
void print(const std::string& s = "SubgraphPreconditioner") const;
};
/* error, given y */
double error(const SubgraphPreconditioner& sp, const VectorValues& y);
/** gradient = y + inv(R1')*A2'*(A2*inv(R1)*y-b2bar) */
VectorValues gradient(const SubgraphPreconditioner& sp, const VectorValues& y);
/** Apply operator A */
Errors operator*(const SubgraphPreconditioner& sp, const VectorValues& y);
/** Apply operator A in place: needs e allocated already */
void multiplyInPlace(const SubgraphPreconditioner& sp, const VectorValues& y, Errors& e);
/** Apply operator A' */
VectorValues operator^(const SubgraphPreconditioner& sp, const Errors& e);
/**
* Add A'*e to y
* y += alpha*A'*[e1;e2] = [alpha*e1; alpha*inv(R1')*A2'*e2]
*/
void transposeMultiplyAdd(const SubgraphPreconditioner& sp, double alpha, const Errors& e, VectorValues& y);
} // namespace gtsam
///* ----------------------------------------------------------------------------
//
// * GTSAM Copyright 2010, Georgia Tech Research Corporation,
// * Atlanta, Georgia 30332-0415
// * All Rights Reserved
// * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
//
// * See LICENSE for the license information
//
// * -------------------------------------------------------------------------- */
//
///**
// * @file SubgraphPreconditioner.h
// * @date Dec 31, 2009
// * @author Frank Dellaert
// */
//
//#pragma once
//
//#include <gtsam/linear/JacobianFactor.h>
//#include <gtsam/linear/GaussianBayesNet.h>
//#include <gtsam/nonlinear/Ordering.h> // FIXME shouldn't have nonlinear things in linear
//
//namespace gtsam {
//
// /**
// * Subgraph conditioner class, as explained in the RSS 2010 submission.
// * Starting with a graph A*x=b, we split it in two systems A1*x=b1 and A2*x=b2
// * We solve R1*x=c1, and make the substitution y=R1*x-c1.
// * To use the class, give the Bayes Net R1*x=c1 and Graph A2*x=b2.
// * Then solve for yhat using CG, and solve for xhat = system.x(yhat).
// */
// class SubgraphPreconditioner {
//
// public:
// typedef boost::shared_ptr<const GaussianBayesNet> sharedBayesNet;
// typedef boost::shared_ptr<const FactorGraph<JacobianFactor> > sharedFG;
// typedef boost::shared_ptr<const VectorValues> sharedValues;
// typedef boost::shared_ptr<const Errors> sharedErrors;
//
// private:
// sharedFG Ab1_, Ab2_;
// sharedBayesNet Rc1_;
// sharedValues xbar_;
// sharedErrors b2bar_; /** b2 - A2*xbar */
//
// public:
//
// SubgraphPreconditioner();
// /**
// * Constructor
// * @param Ab1: the Graph A1*x=b1
// * @param Ab2: the Graph A2*x=b2
// * @param Rc1: the Bayes Net R1*x=c1
// * @param xbar: the solution to R1*x=c1
// */
// SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2, const sharedBayesNet& Rc1, const sharedValues& xbar);
//
// /** Access Ab1 */
// const sharedFG& Ab1() const { return Ab1_; }
//
// /** Access Ab2 */
// const sharedFG& Ab2() const { return Ab2_; }
//
// /** Access Rc1 */
// const sharedBayesNet& Rc1() const { return Rc1_; }
//
// /**
// * Add zero-mean i.i.d. Gaussian prior terms to each variable
// * @param sigma Standard deviation of Gaussian
// */
//// SubgraphPreconditioner add_priors(double sigma) const;
//
// /* x = xbar + inv(R1)*y */
// VectorValues x(const VectorValues& y) const;
//
// /* A zero VectorValues with the structure of xbar */
// VectorValues zero() const {
// VectorValues V(VectorValues::Zero(*xbar_)) ;
// return V ;
// }
//
// /**
// * Add constraint part of the error only, used in both calls above
// * y += alpha*inv(R1')*A2'*e2
// * Takes a range indicating e2 !!!!
// */
// void transposeMultiplyAdd2(double alpha, Errors::const_iterator begin,
// Errors::const_iterator end, VectorValues& y) const;
//
// /** print the object */
// void print(const std::string& s = "SubgraphPreconditioner") const;
// };
//
// /* error, given y */
// double error(const SubgraphPreconditioner& sp, const VectorValues& y);
//
// /** gradient = y + inv(R1')*A2'*(A2*inv(R1)*y-b2bar) */
// VectorValues gradient(const SubgraphPreconditioner& sp, const VectorValues& y);
//
// /** Apply operator A */
// Errors operator*(const SubgraphPreconditioner& sp, const VectorValues& y);
//
// /** Apply operator A in place: needs e allocated already */
// void multiplyInPlace(const SubgraphPreconditioner& sp, const VectorValues& y, Errors& e);
//
// /** Apply operator A' */
// VectorValues operator^(const SubgraphPreconditioner& sp, const Errors& e);
//
// /**
// * Add A'*e to y
// * y += alpha*A'*[e1;e2] = [alpha*e1; alpha*inv(R1')*A2'*e2]
// */
// void transposeMultiplyAdd(const SubgraphPreconditioner& sp, double alpha, const Errors& e, VectorValues& y);
//
//} // namespace gtsam

100
gtsam/linear/SubgraphSolver.cpp
View File

@ -1,50 +1,50 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
#include <gtsam/linear/SubgraphSolver.h>
using namespace std;
namespace gtsam {
/* split the gaussian factor graph Ab into Ab1 and Ab2 according to the map */
bool split(const std::map<Index, Index> &M,
const GaussianFactorGraph &Ab,
GaussianFactorGraph &Ab1,
GaussianFactorGraph &Ab2) {
Ab1 = GaussianFactorGraph();
Ab2 = GaussianFactorGraph();
for ( size_t i = 0 ; i < Ab.size() ; ++i ) {
boost::shared_ptr<GaussianFactor> factor = Ab[i] ;
if (factor->keys().size() > 2)
throw(invalid_argument("split: only support factors with at most two keys"));
if (factor->keys().size() == 1) {
Ab1.push_back(factor);
Ab2.push_back(factor);
continue;
}
Index key1 = factor->keys()[0];
Index key2 = factor->keys()[1];
if ((M.find(key1) != M.end() && M.find(key1)->second == key2) ||
(M.find(key2) != M.end() && M.find(key2)->second == key1))
Ab1.push_back(factor);
else
Ab2.push_back(factor);
}
return true ;
}
} // \namespace gtsam
///* ----------------------------------------------------------------------------
//
// * GTSAM Copyright 2010, Georgia Tech Research Corporation,
// * Atlanta, Georgia 30332-0415
// * All Rights Reserved
// * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
//
// * See LICENSE for the license information
//
// * -------------------------------------------------------------------------- */
//
//#include <gtsam/linear/SubgraphSolver.h>
//
//using namespace std;
//
//namespace gtsam {
//
///* split the gaussian factor graph Ab into Ab1 and Ab2 according to the map */
//bool split(const std::map<Index, Index> &M,
// const GaussianFactorGraph &Ab,
// GaussianFactorGraph &Ab1,
// GaussianFactorGraph &Ab2) {
//
// Ab1 = GaussianFactorGraph();
// Ab2 = GaussianFactorGraph();
//
// for ( size_t i = 0 ; i < Ab.size() ; ++i ) {
//
// boost::shared_ptr<GaussianFactor> factor = Ab[i] ;
//
// if (factor->keys().size() > 2)
// throw(invalid_argument("split: only support factors with at most two keys"));
// if (factor->keys().size() == 1) {
// Ab1.push_back(factor);
// Ab2.push_back(factor);
// continue;
// }
// Index key1 = factor->keys()[0];
// Index key2 = factor->keys()[1];
//
// if ((M.find(key1) != M.end() && M.find(key1)->second == key2) ||
// (M.find(key2) != M.end() && M.find(key2)->second == key1))
// Ab1.push_back(factor);
// else
// Ab2.push_back(factor);
// }
// return true ;
//}
//
//} // \namespace gtsam

199
gtsam/linear/SubgraphSolver.h
View File

@ -1,101 +1,100 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
#pragma once
#include <boost/make_shared.hpp>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/IterativeSolver.h>
#include <gtsam/linear/SubgraphPreconditioner.h>
#include <gtsam/nonlinear/Values.h>
namespace gtsam {
/* split the gaussian factor graph Ab into Ab1 and Ab2 according to the map */
bool split(const std::map<Index, Index> &M,
const GaussianFactorGraph &Ab,
GaussianFactorGraph &Ab1,
GaussianFactorGraph &Ab2);
/**
* A nonlinear system solver using subgraph preconditioning conjugate gradient
* Concept NonLinearSolver<G,T,L> implements
* linearize: G * T -> L
* solve : L -> VectorValues
*/
template<class GRAPH, class LINEAR, class KEY>
class SubgraphSolver : public IterativeSolver {
private:
///* ----------------------------------------------------------------------------
//
// * GTSAM Copyright 2010, Georgia Tech Research Corporation,
// * Atlanta, Georgia 30332-0415
// * All Rights Reserved
// * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
//
// * See LICENSE for the license information
//
// * -------------------------------------------------------------------------- */
//
//#pragma once
//
//#include <boost/make_shared.hpp>
//
//#include <gtsam/linear/GaussianFactorGraph.h>
//#include <gtsam/linear/IterativeSolver.h>
//#include <gtsam/linear/SubgraphPreconditioner.h>
//
//namespace gtsam {
//
///* split the gaussian factor graph Ab into Ab1 and Ab2 according to the map */
//bool split(const std::map<Index, Index> &M,
// const GaussianFactorGraph &Ab,
// GaussianFactorGraph &Ab1,
// GaussianFactorGraph &Ab2);
//
///**
// * A nonlinear system solver using subgraph preconditioning conjugate gradient
// * Concept NonLinearSolver<G,T,L> implements
// * linearize: G * T -> L
// * solve : L -> VectorValues
// */
//template<class GRAPH, class LINEAR, class VALUES>
//class SubgraphSolver : public IterativeSolver {
//
//private:
// typedef typename VALUES::Key Key;
typedef typename GRAPH::Pose Pose;
typedef typename GRAPH::Constraint Constraint;
typedef boost::shared_ptr<const SubgraphSolver> shared_ptr ;
typedef boost::shared_ptr<Ordering> shared_ordering ;
typedef boost::shared_ptr<GRAPH> shared_graph ;
typedef boost::shared_ptr<LINEAR> shared_linear ;
typedef boost::shared_ptr<Values> shared_values ;
typedef boost::shared_ptr<SubgraphPreconditioner> shared_preconditioner ;
typedef std::map<Index,Index> mapPairIndex ;
/* the ordering derived from the spanning tree */
shared_ordering ordering_;
/* the indice of two vertices in the gaussian factor graph */
mapPairIndex pairs_;
/* preconditioner */
shared_preconditioner pc_;
/* flag for direct solver - either QR or LDL */
bool useQR_;
public:
SubgraphSolver(const GRAPH& G, const Values& theta0, const Parameters &parameters = Parameters(), bool useQR = false):
IterativeSolver(parameters), useQR_(useQR) { initialize(G,theta0); }
SubgraphSolver(const LINEAR& GFG) {
std::cout << "[SubgraphSolver] Unexpected usage.." << std::endl;
throw std::runtime_error("SubgraphSolver: gaussian factor graph initialization not supported");
}
SubgraphSolver(const shared_linear& GFG, const boost::shared_ptr<VariableIndex>& structure, bool useQR = false) {
std::cout << "[SubgraphSolver] Unexpected usage.." << std::endl;
throw std::runtime_error("SubgraphSolver: gaussian factor graph and variable index initialization not supported");
}
SubgraphSolver(const SubgraphSolver& solver) :
IterativeSolver(solver), ordering_(solver.ordering_), pairs_(solver.pairs_), pc_(solver.pc_), useQR_(solver.useQR_) {}
SubgraphSolver(shared_ordering ordering,
mapPairIndex pairs,
shared_preconditioner pc,
sharedParameters parameters = boost::make_shared<Parameters>(),
bool useQR = true) :
IterativeSolver(parameters), ordering_(ordering), pairs_(pairs), pc_(pc), useQR_(useQR) {}
void replaceFactors(const typename LINEAR::shared_ptr &graph);
VectorValues::shared_ptr optimize() const;
shared_ordering ordering() const { return ordering_; }
protected:
void initialize(const GRAPH& G, const Values& theta0);
private:
SubgraphSolver():IterativeSolver(){}
};
} // namespace gtsam
#include <gtsam/linear/SubgraphSolver-inl.h>
// typedef typename GRAPH::Pose Pose;
// typedef typename GRAPH::Constraint Constraint;
//
// typedef boost::shared_ptr<const SubgraphSolver> shared_ptr ;
// typedef boost::shared_ptr<Ordering> shared_ordering ;
// typedef boost::shared_ptr<GRAPH> shared_graph ;
// typedef boost::shared_ptr<LINEAR> shared_linear ;
// typedef boost::shared_ptr<VALUES> shared_values ;
// typedef boost::shared_ptr<SubgraphPreconditioner> shared_preconditioner ;
// typedef std::map<Index,Index> mapPairIndex ;
//
// /* the ordering derived from the spanning tree */
// shared_ordering ordering_;
//
// /* the indice of two vertices in the gaussian factor graph */
// mapPairIndex pairs_;
//
// /* preconditioner */
// shared_preconditioner pc_;
//
// /* flag for direct solver - either QR or LDL */
// bool useQR_;
//
//public:
//
// SubgraphSolver(const GRAPH& G, const VALUES& theta0, const Parameters &parameters = Parameters(), bool useQR = false):
// IterativeSolver(parameters), useQR_(useQR) { initialize(G,theta0); }
//
// SubgraphSolver(const LINEAR& GFG) {
// std::cout << "[SubgraphSolver] Unexpected usage.." << std::endl;
// throw std::runtime_error("SubgraphSolver: gaussian factor graph initialization not supported");
// }
//
// SubgraphSolver(const shared_linear& GFG, const boost::shared_ptr<VariableIndex>& structure, bool useQR = false) {
// std::cout << "[SubgraphSolver] Unexpected usage.." << std::endl;
// throw std::runtime_error("SubgraphSolver: gaussian factor graph and variable index initialization not supported");
// }
//
// SubgraphSolver(const SubgraphSolver& solver) :
// IterativeSolver(solver), ordering_(solver.ordering_), pairs_(solver.pairs_), pc_(solver.pc_), useQR_(solver.useQR_) {}
//
// SubgraphSolver(shared_ordering ordering,
// mapPairIndex pairs,
// shared_preconditioner pc,
// sharedParameters parameters = boost::make_shared<Parameters>(),
// bool useQR = true) :
// IterativeSolver(parameters), ordering_(ordering), pairs_(pairs), pc_(pc), useQR_(useQR) {}
//
// void replaceFactors(const typename LINEAR::shared_ptr &graph);
// VectorValues::shared_ptr optimize() ;
// shared_ordering ordering() const { return ordering_; }
//
//protected:
// void initialize(const GRAPH& G, const VALUES& theta0);
//
//private:
// SubgraphSolver():IterativeSolver(){}
//};
//
//} // namespace gtsam
//
//#include <gtsam/linear/SubgraphSolver-inl.h>

2
wrap/Class.cpp
View File

@ -51,7 +51,7 @@ void Class::matlab_proxy(const string& classFile) const {
file.oss << "end" << endl;
// close file
file.emit(false);
file.emit(true);
}
/* ************************************************************************* */

10
wrap/FileWriter.cpp
View File

@ -8,12 +8,10 @@
#include "FileWriter.h"
#include "utilities.h"
#include <boost/date_time/gregorian/gregorian.hpp>
#include <fstream>
#include <iostream>
using namespace std;
using namespace boost::gregorian;
using namespace wrap;
/* ************************************************************************* */
@ -41,10 +39,8 @@ void FileWriter::emit(bool add_header, bool force_overwrite) const {
if (!ofs) throw CantOpenFile(filename_);
// header
if (add_header) {
date today = day_clock::local_day();
ofs << comment_str_ << " automatically generated by wrap on " << today << endl;
}
if (add_header)
ofs << comment_str_ << " automatically generated by wrap" << endl;
// dump in stringstream
ofs << new_contents;

2
wrap/Method.cpp
View File

@ -42,7 +42,7 @@ void Method::matlab_mfile(const string& classPath) const {
file.oss << "end" << endl;
// close file
file.emit(false);
file.emit(true);
}
/* ************************************************************************* */

2
wrap/StaticMethod.cpp
View File

@ -43,7 +43,7 @@ void StaticMethod::matlab_mfile(const string& toolboxPath, const string& classNa
file.oss << "end" << endl;
// close file
file.emit(false);
file.emit(true);
}
/* ************************************************************************* */

1
wrap/tests/expected/@Point2/Point2.m
View File

@ -1,3 +1,4 @@
% automatically generated by wrap
classdef Point2
properties
self = 0

11
wrap/tests/expected/@Point2/argChar.cpp Normal file
View File

@ -0,0 +1,11 @@
// automatically generated by wrap
#include <wrap/matlab.h>
#include <Point2.h>
using namespace geometry;
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("argChar",nargout,nargin-1,1);
shared_ptr<Point2> self = unwrap_shared_ptr< Point2 >(in[0],"Point2");
char a = unwrap< char >(in[1]);
self->argChar(a);
}

5
wrap/tests/expected/@Point2/argChar.m Normal file
View File

@ -0,0 +1,5 @@
automatically generated by wrap
function result = argChar(obj,a)
% usage: obj.argChar(a)
error('need to compile argChar.cpp');
end

2
wrap/tests/expected/@Point2/dim.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <Point2.h>
using namespace geometry;

1
wrap/tests/expected/@Point2/dim.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = dim(obj)
% usage: obj.dim()
error('need to compile dim.cpp');

11
wrap/tests/expected/@Point2/returnChar.cpp Normal file
View File

@ -0,0 +1,11 @@
// automatically generated by wrap
#include <wrap/matlab.h>
#include <Point2.h>
using namespace geometry;
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("returnChar",nargout,nargin-1,0);
shared_ptr<Point2> self = unwrap_shared_ptr< Point2 >(in[0],"Point2");
char result = self->returnChar();
out[0] = wrap< char >(result);
}

5
wrap/tests/expected/@Point2/returnChar.m Normal file
View File

@ -0,0 +1,5 @@
automatically generated by wrap
function result = returnChar(obj)
% usage: obj.returnChar()
error('need to compile returnChar.cpp');
end

2
wrap/tests/expected/@Point2/vectorConfusion.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <Point2.h>
using namespace geometry;

1
wrap/tests/expected/@Point2/vectorConfusion.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = vectorConfusion(obj)
% usage: obj.vectorConfusion()
error('need to compile vectorConfusion.cpp');

2
wrap/tests/expected/@Point2/x.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <Point2.h>
using namespace geometry;

1
wrap/tests/expected/@Point2/x.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = x(obj)
% usage: obj.x()
error('need to compile x.cpp');

2
wrap/tests/expected/@Point2/y.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <Point2.h>
using namespace geometry;

1
wrap/tests/expected/@Point2/y.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = y(obj)
% usage: obj.y()
error('need to compile y.cpp');

1
wrap/tests/expected/@Point3/Point3.m
View File

@ -1,3 +1,4 @@
% automatically generated by wrap
classdef Point3
properties
self = 0

2
wrap/tests/expected/@Point3/norm.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <Point3.h>
using namespace geometry;

1
wrap/tests/expected/@Point3/norm.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = norm(obj)
% usage: obj.norm()
error('need to compile norm.cpp');

1
wrap/tests/expected/@Test/Test.m
View File

@ -1,3 +1,4 @@
% automatically generated by wrap
classdef Test
properties
self = 0

2
wrap/tests/expected/@Test/arg_EigenConstRef.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/arg_EigenConstRef.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = arg_EigenConstRef(obj,value)
% usage: obj.arg_EigenConstRef(value)
error('need to compile arg_EigenConstRef.cpp');

2
wrap/tests/expected/@Test/create_MixedPtrs.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/create_MixedPtrs.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function [first,second] = create_MixedPtrs(obj)
% usage: obj.create_MixedPtrs()
error('need to compile create_MixedPtrs.cpp');

2
wrap/tests/expected/@Test/create_ptrs.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/create_ptrs.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function [first,second] = create_ptrs(obj)
% usage: obj.create_ptrs()
error('need to compile create_ptrs.cpp');

2
wrap/tests/expected/@Test/print.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/print.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = print(obj)
% usage: obj.print()
error('need to compile print.cpp');

2
wrap/tests/expected/@Test/return_Point2Ptr.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_Point2Ptr.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = return_Point2Ptr(obj,value)
% usage: obj.return_Point2Ptr(value)
error('need to compile return_Point2Ptr.cpp');

2
wrap/tests/expected/@Test/return_Test.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_Test.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = return_Test(obj,value)
% usage: obj.return_Test(value)
error('need to compile return_Test.cpp');

2
wrap/tests/expected/@Test/return_TestPtr.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_TestPtr.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = return_TestPtr(obj,value)
% usage: obj.return_TestPtr(value)
error('need to compile return_TestPtr.cpp');

2
wrap/tests/expected/@Test/return_bool.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_bool.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = return_bool(obj,value)
% usage: obj.return_bool(value)
error('need to compile return_bool.cpp');

2
wrap/tests/expected/@Test/return_double.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_double.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = return_double(obj,value)
% usage: obj.return_double(value)
error('need to compile return_double.cpp');

2
wrap/tests/expected/@Test/return_field.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_field.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = return_field(obj,t)
% usage: obj.return_field(t)
error('need to compile return_field.cpp');

2
wrap/tests/expected/@Test/return_int.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_int.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = return_int(obj,value)
% usage: obj.return_int(value)
error('need to compile return_int.cpp');

2
wrap/tests/expected/@Test/return_matrix1.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_matrix1.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = return_matrix1(obj,value)
% usage: obj.return_matrix1(value)
error('need to compile return_matrix1.cpp');

2
wrap/tests/expected/@Test/return_matrix2.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_matrix2.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = return_matrix2(obj,value)
% usage: obj.return_matrix2(value)
error('need to compile return_matrix2.cpp');

2
wrap/tests/expected/@Test/return_pair.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_pair.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function [first,second] = return_pair(obj,v,A)
% usage: obj.return_pair(v,A)
error('need to compile return_pair.cpp');

2
wrap/tests/expected/@Test/return_ptrs.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_ptrs.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function [first,second] = return_ptrs(obj,p1,p2)
% usage: obj.return_ptrs(p1,p2)
error('need to compile return_ptrs.cpp');

2
wrap/tests/expected/@Test/return_size_t.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_size_t.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = return_size_t(obj,value)
% usage: obj.return_size_t(value)
error('need to compile return_size_t.cpp');

2
wrap/tests/expected/@Test/return_string.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_string.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = return_string(obj,value)
% usage: obj.return_string(value)
error('need to compile return_string.cpp');

2
wrap/tests/expected/@Test/return_vector1.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_vector1.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = return_vector1(obj,value)
% usage: obj.return_vector1(value)
error('need to compile return_vector1.cpp');

2
wrap/tests/expected/@Test/return_vector2.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

1
wrap/tests/expected/@Test/return_vector2.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = return_vector2(obj,value)
% usage: obj.return_vector2(value)
error('need to compile return_vector2.cpp');

2
wrap/tests/expected/Makefile
View File

@ -1,4 +1,4 @@
# automatically generated by wrap on 2012-Jan-23
# automatically generated by wrap
MEX = mex
MEXENDING = mexa64

2
wrap/tests/expected/Point3_StaticFunctionRet.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <Point3.h>
using namespace geometry;

1
wrap/tests/expected/Point3_StaticFunctionRet.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = Point3_StaticFunctionRet(z)
% usage: x = Point3_StaticFunctionRet(z)
error('need to compile Point3_StaticFunctionRet.cpp');

2
wrap/tests/expected/Point3_staticFunction.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <Point3.h>
using namespace geometry;

1
wrap/tests/expected/Point3_staticFunction.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = Point3_staticFunction()
% usage: x = Point3_staticFunction()
error('need to compile Point3_staticFunction.cpp');

2
wrap/tests/expected/make_geometry.m
View File

@ -1,4 +1,4 @@
% automatically generated by wrap on 2012-Jan-23
% automatically generated by wrap
echo on
toolboxpath = mfilename('fullpath');

2
wrap/tests/expected/new_Point2_.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <Point2.h>
using namespace geometry;

2
wrap/tests/expected/new_Point2_.m
View File

@ -1,4 +1,4 @@
% automatically generated by wrap on 2012-Jan-15
% automatically generated by wrap
function result = new_Point2_(obj)
error('need to compile new_Point2_.cpp');
end

2
wrap/tests/expected/new_Point2_dd.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <Point2.h>
using namespace geometry;

2
wrap/tests/expected/new_Point2_dd.m
View File

@ -1,4 +1,4 @@
% automatically generated by wrap on 2012-Jan-15
% automatically generated by wrap
function result = new_Point2_dd(obj,x,y)
error('need to compile new_Point2_dd.cpp');
end

2
wrap/tests/expected/new_Point3_ddd.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <Point3.h>
using namespace geometry;

2
wrap/tests/expected/new_Point3_ddd.m
View File

@ -1,4 +1,4 @@
% automatically generated by wrap on 2012-Jan-15
% automatically generated by wrap
function result = new_Point3_ddd(obj,x,y,z)
error('need to compile new_Point3_ddd.cpp');
end

2
wrap/tests/expected/new_Test_.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

2
wrap/tests/expected/new_Test_.m
View File

@ -1,4 +1,4 @@
% automatically generated by wrap on 2012-Jan-15
% automatically generated by wrap
function result = new_Test_(obj)
error('need to compile new_Test_.cpp');
end

10
wrap/tests/expected/new_Test_b.cpp
View File

@ -1,10 +0,0 @@
// automatically generated by wrap on 2011-Dec-01
#include <wrap/matlab.h>
#include <Test.h>
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("new_Test_b",nargout,nargin,1);
bool value = unwrap< bool >(in[0]);
Test* self = new Test(value);
out[0] = wrap_constructed(self,"Test");
}

4
wrap/tests/expected/new_Test_b.m
View File

@ -1,4 +0,0 @@
% automatically generated by wrap on 2011-Dec-01
function result = new_Test_b(obj,value)
error('need to compile new_Test_b.cpp');
end

2
wrap/tests/expected/new_Test_dM.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2012-Jan-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <folder/path/to/Test.h>
using namespace geometry;

2
wrap/tests/expected/new_Test_dM.m
View File

@ -1,4 +1,4 @@
% automatically generated by wrap on 2012-Jan-15
% automatically generated by wrap
function result = new_Test_dM(obj,a,b)
error('need to compile new_Test_dM.cpp');
end

3
wrap/tests/expected_namespaces/@ClassD/ClassD.m
View File

@ -1,10 +1,11 @@
% automatically generated by wrap
classdef ClassD
properties
self = 0
end
methods
function obj = ClassD(varargin)
if nargin == 0, obj.self = new_ClassD_(); end
if (nargin == 0), obj.self = new_ClassD_(); end
if nargin ~= 13 && obj.self == 0, error('ClassD constructor failed'); end
end
function display(obj), obj.print(''); end

1
wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m
View File

@ -1,3 +1,4 @@
% automatically generated by wrap
classdef ns1ClassA
properties
self = 0

1
wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m
View File

@ -1,3 +1,4 @@
% automatically generated by wrap
classdef ns1ClassB
properties
self = 0

2
wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2011-Dec-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <path/to/ns2.h>
#include <path/to/ns2/ClassA.h>

1
wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = memberFunction(obj)
% usage: obj.memberFunction()
error('need to compile memberFunction.cpp');

1
wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m
View File

@ -1,3 +1,4 @@
% automatically generated by wrap
classdef ns2ClassA
properties
self = 0

2
wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2011-Dec-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <path/to/ns2.h>
#include <path/to/ns2/ClassA.h>

1
wrap/tests/expected_namespaces/@ns2ClassA/nsArg.m
View File

@ -1,3 +1,4 @@
automatically generated by wrap
function result = nsArg(obj,arg)
% usage: obj.nsArg(arg)
error('need to compile nsArg.cpp');

2
wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp
View File

@ -1,4 +1,4 @@
// automatically generated by wrap on 2011-Dec-15
// automatically generated by wrap
#include <wrap/matlab.h>
#include <path/to/ns2.h>
#include <path/to/ns2/ClassA.h>

Some files were not shown because too many files have changed in this diff Show More