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Add alternativeName()

release/4.3a0
Jose Luis Blanco-Claraco 2020-10-23 12:50:38 +02:00
parent 29e2339af8
commit 7aab3796b0
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GPG Key ID: D443304FBD70A641
2 changed files with 25 additions and 0 deletions
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6
gtsam/inference/Symbol.h
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@ -162,6 +162,12 @@ inline Key W(std::uint64_t j) { return Symbol('w', j); }
inline Key X(std::uint64_t j) { return Symbol('x', j); }
inline Key Y(std::uint64_t j) { return Symbol('y', j); }
inline Key Z(std::uint64_t j) { return Symbol('z', j); }
/** Generates symbol shorthands with alternative names different than the
* one-letter predefined ones. */
inline std::function<Key(std::uint64_t)> alternativeName(const char c) {
return [c](std::uint64_t j) { return gtsam::Symbol(c, j); };
}
}
/// traits

19
gtsam/inference/tests/testKey.cpp
View File

@ -40,6 +40,25 @@ TEST(Key, KeySymbolConversion) {
EXPECT(assert_equal(original, actual))
}
/* ************************************************************************* */
TEST(Key, SymbolAlternativeNames) {
const auto x1 = gtsam::symbol_shorthand::X(1);
const auto v1 = gtsam::symbol_shorthand::V(1);
const auto a1 = gtsam::symbol_shorthand::A(1);
const auto Z = gtsam::symbol_shorthand::alternativeName('x');
const auto DZ = gtsam::symbol_shorthand::alternativeName('v');
const auto DDZ = gtsam::symbol_shorthand::alternativeName('a');
const auto z1 = Z(1);
const auto dz1 = DZ(1);
const auto ddz1 = DDZ(1);
EXPECT(assert_equal(x1, z1));
EXPECT(assert_equal(v1, dz1));
EXPECT(assert_equal(a1, ddz1));
}
/* ************************************************************************* */
template<int KeySize>
Key KeyTestValue();