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Merge pull request #489 from borglab/feature/remove_point_type 

Remove GTSAM_DEFINE_POINTS_TO_VECTORS
release/4.3a0
Frank Dellaert 2020-08-21 09:39:44 -04:00 committed by GitHub
parent a350295760 43816e5cd1
commit 838c5df471
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
11 changed files with 6 additions and 342 deletions
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6
CMakeLists.txt
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@ -79,7 +79,6 @@ option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also
option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON)
option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module with pybind11" OFF)
option(GTSAM_ALLOW_DEPRECATED_SINCE_V41 "Allow use of methods/functions deprecated in GTSAM 4.1" ON)
option(GTSAM_TYPEDEF_POINTS_TO_VECTORS "Typedef Point2 and Point3 to Eigen::Vector equivalents" OFF)
option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON)
option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON)
if(NOT MSVC AND NOT XCODE_VERSION)
@ -114,10 +113,6 @@ if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS)
endif()
if(GTSAM_BUILD_PYTHON)
if (NOT GTSAM_TYPEDEF_POINTS_TO_VECTORS)
message(FATAL_ERROR "GTSAM_BUILD_PYTHON requires GTSAM_TYPEDEF_POINTS_TO_VECTORS to be enabled but it is not.")
endif()
if(GTSAM_UNSTABLE_BUILD_PYTHON)
if (NOT GTSAM_BUILD_UNSTABLE)
message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.")
@ -586,7 +581,6 @@ print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency c
print_enabled_config(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ")
print_enabled_config(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ")
print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V41} "Allow features deprecated in GTSAM 4.1")
print_enabled_config(${GTSAM_TYPEDEF_POINTS_TO_VECTORS} "Point3 is typedef to Vector3 ")
print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ")
print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION} "Use tangent-space preintegration")

3
gtsam/config.h.in
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@ -72,9 +72,6 @@
// Make sure dependent projects that want it can see deprecated functions
#cmakedefine GTSAM_ALLOW_DEPRECATED_SINCE_V41
// Publish flag about Eigen typedef
#cmakedefine GTSAM_TYPEDEF_POINTS_TO_VECTORS
// Support Metis-based nested dissection
#cmakedefine GTSAM_SUPPORT_NESTED_DISSECTION

31
gtsam/geometry/Point2.cpp
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@ -50,37 +50,6 @@ double distance2(const Point2& p, const Point2& q, OptionalJacobian<1, 2> H1,
}
}
#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
/* ************************************************************************* */
void Point2::print(const string& s) const {
cout << s << *this << endl;
}
/* ************************************************************************* */
bool Point2::equals(const Point2& q, double tol) const {
return (std::abs(x() - q.x()) < tol && std::abs(y() - q.y()) < tol);
}
/* ************************************************************************* */
double Point2::norm(OptionalJacobian<1,2> H) const {
return gtsam::norm2(*this, H);
}
/* ************************************************************************* */
double Point2::distance(const Point2& point, OptionalJacobian<1,2> H1,
OptionalJacobian<1,2> H2) const {
return gtsam::distance2(*this, point, H1, H2);
}
/* ************************************************************************* */
ostream &operator<<(ostream &os, const Point2& p) {
os << '(' << p.x() << ", " << p.y() << ')';
return os;
}
#endif // GTSAM_TYPEDEF_POINTS_TO_VECTORS
/* ************************************************************************* */
// Math inspired by http://paulbourke.net/geometry/circlesphere/
boost::optional<Point2> circleCircleIntersection(double R_d, double r_d,

108
gtsam/geometry/Point2.h
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@ -22,111 +22,9 @@
namespace gtsam {
#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
/// As of GTSAM 4, in order to make GTSAM more lean,
/// it is now possible to just typedef Point2 to Vector2
typedef Vector2 Point2;
#else
/**
* A 2D point
* Complies with the Testable Concept
* Functional, so no set functions: once created, a point is constant.
* @addtogroup geometry
* \nosubgrouping
*/
class Point2 : public Vector2 {
private:
public:
enum { dimension = 2 };
/// @name Standard Constructors
/// @{
/// default constructor
Point2() {}
using Vector2::Vector2;
/// @}
/// @name Advanced Constructors
/// @{
/// construct from 2D vector
explicit Point2(const Vector2& v):Vector2(v) {}
/// @}
/// @name Testable
/// @{
/// print with optional string
GTSAM_EXPORT void print(const std::string& s = "") const;
/// equals with an tolerance, prints out message if unequal
GTSAM_EXPORT bool equals(const Point2& q, double tol = 1e-9) const;
/// @}
/// @name Group
/// @{
/// identity
inline static Point2 identity() {return Point2(0,0);}
/// @}
/// @name Vector Space
/// @{
/** creates a unit vector */
Point2 unit() const { return *this/norm(); }
/** norm of point, with derivative */
GTSAM_EXPORT double norm(OptionalJacobian<1,2> H = boost::none) const;
/** distance between two points */
GTSAM_EXPORT double distance(const Point2& p2, OptionalJacobian<1,2> H1 = boost::none,
OptionalJacobian<1,2> H2 = boost::none) const;
/// @}
/// @name Standard Interface
/// @{
/// equality
inline bool operator ==(const Point2& q) const {return x()==q.x() && y()==q.y();}
/// get x
inline double x() const {return (*this)[0];}
/// get y
inline double y() const {return (*this)[1];}
/// return vectorized form (column-wise).
const Vector2& vector() const { return *this; }
/// @}
/// Streaming
GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Point2& p);
private:
/// @name Advanced Interface
/// @{
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/)
{
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Vector2);}
/// @}
};
template<>
struct traits<Point2> : public internal::VectorSpace<Point2> {
};
#endif // GTSAM_TYPEDEF_POINTS_TO_VECTORS
/// As of GTSAM 4, in order to make GTSAM more lean,
/// it is now possible to just typedef Point2 to Vector2
typedef Vector2 Point2;
/// Distance of the point from the origin, with Jacobian
GTSAM_EXPORT double norm2(const Point2& p, OptionalJacobian<1, 2> H = boost::none);

41
gtsam/geometry/Point3.cpp
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@ -22,47 +22,6 @@ using namespace std;
namespace gtsam {
#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
bool Point3::equals(const Point3 &q, double tol) const {
return (std::abs(x() - q.x()) < tol && std::abs(y() - q.y()) < tol &&
std::abs(z() - q.z()) < tol);
}
void Point3::print(const string& s) const {
cout << s << *this << endl;
}
/* ************************************************************************* */
double Point3::distance(const Point3 &q, OptionalJacobian<1, 3> H1,
OptionalJacobian<1, 3> H2) const {
return gtsam::distance3(*this,q,H1,H2);
}
double Point3::norm(OptionalJacobian<1,3> H) const {
return gtsam::norm3(*this, H);
}
Point3 Point3::normalized(OptionalJacobian<3,3> H) const {
return gtsam::normalize(*this, H);
}
Point3 Point3::cross(const Point3 &q, OptionalJacobian<3, 3> H1,
OptionalJacobian<3, 3> H2) const {
return gtsam::cross(*this, q, H1, H2);
}
double Point3::dot(const Point3 &q, OptionalJacobian<1, 3> H1,
OptionalJacobian<1, 3> H2) const {
return gtsam::dot(*this, q, H1, H2);
}
/* ************************************************************************* */
ostream &operator<<(ostream &os, const Point3& p) {
os << '[' << p.x() << ", " << p.y() << ", " << p.z() << "]'";
return os;
}
#endif
/* ************************************************************************* */
double distance3(const Point3 &p1, const Point3 &q, OptionalJacobian<1, 3> H1,
OptionalJacobian<1, 3> H2) {

103
gtsam/geometry/Point3.h
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@ -29,106 +29,9 @@
namespace gtsam {
#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
/// As of GTSAM 4, in order to make GTSAM more lean,
/// it is now possible to just typedef Point3 to Vector3
typedef Vector3 Point3;
#else
/**
* A 3D point is just a Vector3 with some additional methods
* @addtogroup geometry
* \nosubgrouping
*/
class Point3 : public Vector3 {
public:
enum { dimension = 3 };
/// @name Standard Constructors
/// @{
using Vector3::Vector3;
/// @}
/// @name Testable
/// @{
/** print with optional string */
GTSAM_EXPORT void print(const std::string& s = "") const;
/** equals with an tolerance */
GTSAM_EXPORT bool equals(const Point3& p, double tol = 1e-9) const;
/// @}
/// @name Group
/// @{
/// identity for group operation
inline static Point3 identity() { return Point3(0.0, 0.0, 0.0); }
/// @}
/// @name Vector Space
/// @{
/** distance between two points */
GTSAM_EXPORT double distance(const Point3& p2, OptionalJacobian<1, 3> H1 = boost::none,
OptionalJacobian<1, 3> H2 = boost::none) const;
/** Distance of the point from the origin, with Jacobian */
GTSAM_EXPORT double norm(OptionalJacobian<1,3> H = boost::none) const;
/** normalize, with optional Jacobian */
GTSAM_EXPORT Point3 normalized(OptionalJacobian<3, 3> H = boost::none) const;
/** cross product @return this x q */
GTSAM_EXPORT Point3 cross(const Point3 &q, OptionalJacobian<3, 3> H_p = boost::none, //
OptionalJacobian<3, 3> H_q = boost::none) const;
/** dot product @return this * q*/
GTSAM_EXPORT double dot(const Point3 &q, OptionalJacobian<1, 3> H_p = boost::none, //
OptionalJacobian<1, 3> H_q = boost::none) const;
/// @}
/// @name Standard Interface
/// @{
/// return as Vector3
const Vector3& vector() const { return *this; }
/// get x
inline double x() const {return (*this)[0];}
/// get y
inline double y() const {return (*this)[1];}
/// get z
inline double z() const {return (*this)[2];}
/// @}
/// Output stream operator
GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Point3& p);
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Vector3);
}
};
template<>
struct traits<Point3> : public internal::VectorSpace<Point3> {};
template<>
struct traits<const Point3> : public internal::VectorSpace<Point3> {};
#endif // GTSAM_TYPEDEF_POINTS_TO_VECTORS
/// As of GTSAM 4, in order to make GTSAM more lean,
/// it is now possible to just typedef Point3 to Vector3
typedef Vector3 Point3;
// Convenience typedef
typedef std::pair<Point3, Point3> Point3Pair;

10
gtsam/geometry/tests/testPoint2.cpp
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@ -237,16 +237,6 @@ TEST( Point2, circleCircleIntersection) {
}
/* ************************************************************************* */
#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
TEST( Point2, stream) {
Point2 p(1, 2);
std::ostringstream os;
os << p;
EXPECT(os.str() == "(1, 2)");
}
#endif
/* ************************************************************************* */
int main () {
TestResult tr;

10
gtsam/geometry/tests/testPoint3.cpp
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@ -153,16 +153,6 @@ TEST( Point3, cross2) {
}
}
/* ************************************************************************* */
#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
TEST( Point3, stream) {
Point3 p(1, 2, -3);
std::ostringstream os;
os << p;
EXPECT(os.str() == "[1, 2, -3]'");
}
#endif
//*************************************************************************
TEST (Point3, normalize) {
Matrix actualH;

8
gtsam/geometry/tests/testPose3.cpp
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@ -864,11 +864,7 @@ TEST( Pose3, stream)
os << T;
string expected;
#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\nt: 0\n0\n0";;
#else
expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\nt: [0, 0, 0]'";
#endif
EXPECT(os.str() == expected);
}
@ -1043,13 +1039,9 @@ TEST(Pose3, print) {
// Add expected rotation
expected << "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\n";
#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
expected << "t: 1\n"
"2\n"
"3\n";
#else
expected << "t: [" << translation.x() << ", " << translation.y() << ", " << translation.z() << "]'\n";
#endif
// reset cout to the original stream
std::cout.rdbuf(oldbuf);

4
gtsam/navigation/tests/testNavState.cpp
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@ -215,11 +215,7 @@ TEST(NavState, Stream)
os << state;
string expected;
#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\np: 0\n0\n0\nv: 0\n0\n0";
#else
expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\np: [0, 0, 0]'\nv: [0, 0, 0]'";
#endif
EXPECT(os.str() == expected);
}

24
gtsam/slam/expressions.h
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@ -75,30 +75,6 @@ inline Unit3_ unrotate(const Rot3_& x, const Unit3_& p) {
return Unit3_(x, &Rot3::unrotate, p);
}
#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
namespace internal {
// define a rotate and unrotate for Vector3
inline Vector3 rotate(const Rot3& R, const Vector3& v,
OptionalJacobian<3, 3> H1 = boost::none,
OptionalJacobian<3, 3> H2 = boost::none) {
return R.rotate(v, H1, H2);
}
inline Vector3 unrotate(const Rot3& R, const Vector3& v,
OptionalJacobian<3, 3> H1 = boost::none,
OptionalJacobian<3, 3> H2 = boost::none) {
return R.unrotate(v, H1, H2);
}
} // namespace internal
inline Expression<Vector3> rotate(const Rot3_& R,
const Expression<Vector3>& v) {
return Expression<Vector3>(internal::rotate, R, v);
}
inline Expression<Vector3> unrotate(const Rot3_& R,
const Expression<Vector3>& v) {
return Expression<Vector3>(internal::unrotate, R, v);
}
#endif
// Projection
typedef Expression<Cal3_S2> Cal3_S2_;