Trying to firm things up by having a small unit test for cyclic groups.
dellaert
parent
0ea2e5efe4
commit
6f82458bee
106
.cproject
106
.cproject
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@ -592,7 +592,6 @@
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</target>
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<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -600,7 +599,6 @@
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</target>
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<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBinaryBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -648,7 +646,6 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -656,7 +653,6 @@
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</target>
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<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testSymbolicFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -664,7 +660,6 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -680,7 +675,6 @@
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</target>
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<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1136,7 +1130,6 @@
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</target>
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<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testErrors.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1366,46 +1359,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testBTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSF.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFMap.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testFixedVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1488,6 +1441,7 @@
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</target>
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2DOriented.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1527,6 +1481,7 @@
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</target>
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1534,6 +1489,7 @@
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</target>
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<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated3D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1547,6 +1503,46 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testBTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSF.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFMap.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testFixedVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testEliminationTree.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -1804,7 +1800,6 @@
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</target>
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<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G DEB</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1812,7 +1807,6 @@
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</target>
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<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G RPM</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1820,7 +1814,6 @@
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</target>
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<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G TGZ</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1828,7 +1821,6 @@
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</target>
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<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2185,6 +2177,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testCyclic.run" path="build/gtsam/geometry/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j4</buildArguments>
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<buildTarget>testCyclic.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="release" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -2683,7 +2683,6 @@
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</target>
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<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2691,7 +2690,6 @@
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</target>
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<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testJunctionTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2699,7 +2697,6 @@
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</target>
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<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNetB.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -3251,6 +3248,7 @@
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</target>
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testGaussianISAM2</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1,57 +1,62 @@
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/*
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* concepts.h
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*
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* Created on: Dec 4, 2014
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* Author: mike bosse
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* @data Dec 4, 2014
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* @author Mike Bosse
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* @author Frank Dellaert
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*/
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#ifndef CONCEPTS_H_
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#define CONCEPTS_H_
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#pragma once
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#include "manifold.h"
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#include "chart.h"
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#include <boost/type_traits.hpp>
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//#include "manifold.h"
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//#include "chart.h"
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#include <boost/concept_check.hpp>
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#include <boost/static_assert.hpp>
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#include <boost/type_traits/is_base_of.hpp>
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namespace gtsam {
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namespace traits {
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template <class Manifold>
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struct TangentVector {
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//typedef XXX type;
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};
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// used to identify the manifold associated with a chart
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template <class Chart>
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struct Manifold {
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//typedef XXX type;
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};
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template <class Manifold>
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struct DefaultChart {
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//typedef XXX type;
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};
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/**
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* @name Algebraic Structure Traits
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* @brief Associate a unique tag with each of the main GTSAM concepts
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*/
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//@{
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template <class T>
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struct structure {}; // specializations should be derived from one of the following tags
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struct structure_category {}; // specializations should be derived from one of the following tags
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//@}
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/**
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* @name Algebraic Structure Tags
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* @brief Possible values for traits::structure_category<T>::type
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*/
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//@{
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struct manifold_tag {};
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struct group_tag {};
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struct lie_group_tag : public manifold_tag, public group_tag {};
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struct vector_space_tag : public lie_group_tag {};
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template <class Group>
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struct group_flavor {};
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struct additive_group_tag {};
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struct multiplicative_group_tag {};
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//@}
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} // namespace traits
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namespace traits {
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/** @name Manifold Traits */
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//@{
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template <class Manifold> struct TangentVector;
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template <class Manifold> struct DefaultChart;
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//@}
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} // namespace traits
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/*
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template<class T>
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class ManifoldConcept {
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public:
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typedef T Manifold;
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typedef traits::TangentVector<T>::type TangentVector;
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typedef traits::DefaultChart<T>::type DefaultChart;
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typedef typename traits::TangentVector<T>::type TangentVector;
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typedef typename traits::DefaultChart<T>::type DefaultChart;
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static const size_t dim = traits::dimension<T>::value;
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BOOST_CONCEPT_USAGE(ManifoldConcept) {
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@ -81,6 +86,23 @@ class ChartConcept {
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TangentVector v;
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};
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*/
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namespace traits {
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/** @name Group Traits */
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//@{
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template <class Group> struct identity {};
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template <class Group> struct group_flavor {};
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//@}
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/** @name Group Flavor Tags */
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//@{
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struct additive_group_tag {};
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struct multiplicative_group_tag {};
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//@}
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} // namespace traits
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template<class G>
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class GroupConcept {
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@ -89,23 +111,24 @@ class GroupConcept {
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static const Group identity = traits::identity<G>::value;
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BOOST_CONCEPT_USAGE(GroupConcept) {
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::group_tag, traits::structure<Group> >);
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BOOST_STATIC_ASSERT(boost::is_base_of<traits::group_tag,typename traits::structure_category<Group>::type>::value );
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Group ip = inverse(p);
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Group pq = compose(p, q);
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Group d = between(p, q);
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bool test = equal(p, q);
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bool test2 = operator_usage(p, q, traits::group_flavor<Group>);
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test = equal(p, q);
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test2 = operator_usage(p, q, traits::group_flavor<Group>::type);
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}
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bool check_invariants(const Group& a, const Group& b) {
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return (equal(compose(a, inverse(a)), identity))
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&& (equal(between(a, b), compose(inverse(a), b)))
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&& (equal(compose(a, between(a, b)), b))
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&& operator_usage(a, b, traits::group_flavor<Group>);
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&& operator_usage(a, b, traits::group_flavor<Group>::type);
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}
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private:
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Group p,q;
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bool test, test2;
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bool operator_usage(const Group& a, const Group& b, const traits::multiplicative_group_tag&) {
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return equal(compose(a, b), a*b);
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@ -116,7 +139,7 @@ class GroupConcept {
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}
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};
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/*
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template <class L>
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class LieGroupConcept : public GroupConcept<L>, public ManifoldConcept<L> {
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@ -127,8 +150,8 @@ class LieGroupConcept : public GroupConcept<L>, public ManifoldConcept<L> {
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template <class V>
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class VectorSpaceConcept : public LieGroupConcept {
|
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typedef traits::DefaultChart<V>::type Chart;
|
||||
typedef GroupConcept<V>::identity identity;
|
||||
typedef typename traits::DefaultChart<V>::type Chart;
|
||||
typedef typename GroupConcept<V>::identity identity;
|
||||
|
||||
BOOST_CONCEPT_USAGE(VectorSpaceConcept) {
|
||||
BOOST_STATIC_ASSERT(boost::is_base_of<traits::vector_space_tag, traits::structure<L> >);
|
||||
|
|
@ -148,7 +171,8 @@ class VectorSpaceConcept : public LieGroupConcept {
|
|||
private:
|
||||
V p,q,r;
|
||||
};
|
||||
*/
|
||||
|
||||
} // namespace gtsam
|
||||
|
||||
#endif /* CONCEPTS_H_ */
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,67 @@
|
|||
/* ----------------------------------------------------------------------------
|
||||
|
||||
* 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 testCyclic.cpp
|
||||
* @brief Unit tests for cyclic group
|
||||
* @author Frank Dellaert
|
||||
**/
|
||||
|
||||
#include <gtsam/base/concepts.h>
|
||||
#include <cstddef>
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
template<size_t N>
|
||||
class Cyclic {
|
||||
size_t i_;
|
||||
public:
|
||||
static const Cyclic Identity = Cyclic(0);
|
||||
Cyclic(size_t i) :
|
||||
i_(i) {
|
||||
}
|
||||
};
|
||||
|
||||
namespace traits {
|
||||
template<size_t N> struct identity<Cyclic<N> > {
|
||||
static const Cyclic<N> value = Cyclic<N>::Identity;
|
||||
typedef Cyclic<N> value_type;
|
||||
};
|
||||
template<size_t N> struct group_flavor<Cyclic<N> > {
|
||||
typedef additive_group_tag type;
|
||||
};
|
||||
} // \namespace traits
|
||||
|
||||
} // \namespace gtsam
|
||||
|
||||
//#include <gtsam/geometry/Cyclic.h>
|
||||
#include <gtsam/base/Testable.h>
|
||||
#include <CppUnitLite/TestHarness.h>
|
||||
|
||||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
||||
BOOST_CONCEPT_ASSERT((GroupConcept<Cyclic<6> >));
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(Cyclic, Constructor) {
|
||||
Cyclic<6> g(0);
|
||||
// EXPECT(assert_equal(p1, p2));
|
||||
// EXPECT_LONGS_EQUAL(2,offset2.size());
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() {
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
|
||||
Loading…
Reference in New Issue