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Merged in fix/Symbols (pull request #87) 

Compile with latest Boost version on Mac
release/4.3a0
Frank Dellaert 2015-01-14 01:32:52 +01:00
parent b6a7dc0530 69deb225b8
commit 8ae2deb5e3
7 changed files with 106 additions and 89 deletions
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106
.cproject
View File

@ -584,6 +584,7 @@
</target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -591,6 +592,7 @@
</target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -638,6 +640,7 @@
</target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -645,6 +648,7 @@
</target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -652,6 +656,7 @@
</target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -667,6 +672,7 @@
</target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1098,6 +1104,7 @@
</target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1327,6 +1334,46 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testBTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSF.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFMap.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testFixedVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -1409,7 +1456,6 @@
</target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1449,7 +1495,6 @@
</target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1457,7 +1502,6 @@
</target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1471,46 +1515,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testBTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSF.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFMap.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testFixedVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testEliminationTree.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
@ -1551,6 +1555,14 @@
<useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testLabeledSymbol.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j4</buildArguments>
<buildTarget>testLabeledSymbol.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -1768,6 +1780,7 @@
</target>
<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G DEB</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1775,6 +1788,7 @@
</target>
<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G RPM</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1782,6 +1796,7 @@
</target>
<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G TGZ</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -1789,6 +1804,7 @@
</target>
<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2659,6 +2675,7 @@
</target>
<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2666,6 +2683,7 @@
</target>
<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -2673,6 +2691,7 @@
</target>
<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNetB.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -3272,7 +3291,6 @@
</target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>

2
gtsam/base/Matrix.h
View File

@ -238,7 +238,7 @@ Eigen::Block<const MATRIX> sub(const MATRIX& A, size_t i1, size_t i2, size_t j1,
* @param j is the column of the upper left corner insert location
*/
template <typename Derived1, typename Derived2>
GTSAM_EXPORT void insertSub(Eigen::MatrixBase<Derived1>& fullMatrix, const Eigen::MatrixBase<Derived2>& subMatrix, size_t i, size_t j) {
void insertSub(Eigen::MatrixBase<Derived1>& fullMatrix, const Eigen::MatrixBase<Derived2>& subMatrix, size_t i, size_t j) {
fullMatrix.block(i, j, subMatrix.rows(), subMatrix.cols()) = subMatrix;
}

3
gtsam/geometry/Pose3.h
View File

@ -323,7 +323,6 @@ typedef std::pair<Point3, Point3> Point3Pair;
GTSAM_EXPORT boost::optional<Pose3> align(const std::vector<Point3Pair>& pairs);
template<>
struct traits<Pose3> : public internal::LieGroupTraits<Pose3> {
};
struct traits<Pose3> : public internal::LieGroupTraits<Pose3> {};
} // namespace gtsam

22
gtsam/inference/LabeledSymbol.cpp
View File

@ -17,12 +17,8 @@
#include <iostream>
#include <boost/mpl/char.hpp>
#include <boost/format.hpp>
#include <boost/function.hpp>
#include <boost/lambda/bind.hpp>
#include <boost/lambda/construct.hpp>
#include <boost/lambda/lambda.hpp>
#include <boost/bind.hpp>
#include <boost/lexical_cast.hpp>
@ -111,23 +107,21 @@ bool LabeledSymbol::operator!=(gtsam::Key comp) const {
}
/* ************************************************************************* */
static LabeledSymbol make(gtsam::Key key) { return LabeledSymbol(key);}
boost::function<bool(gtsam::Key)> LabeledSymbol::TypeTest(unsigned char c) {
namespace bl = boost::lambda;
return bl::bind(&LabeledSymbol::chr, bl::bind(bl::constructor<LabeledSymbol>(), bl::_1)) == c;
return boost::bind(&LabeledSymbol::chr, boost::bind(make, _1)) == c;
}
/* ************************************************************************* */
boost::function<bool(gtsam::Key)> LabeledSymbol::LabelTest(unsigned char label) {
namespace bl = boost::lambda;
return bl::bind(&LabeledSymbol::label, bl::bind(bl::constructor<LabeledSymbol>(), bl::_1)) == label;
return boost::bind(&LabeledSymbol::label, boost::bind(make, _1)) == label;
}
/* ************************************************************************* */
boost::function<bool(gtsam::Key)> LabeledSymbol::TypeLabelTest(unsigned char c, unsigned char label) {
namespace bl = boost::lambda;
return bl::bind(&LabeledSymbol::chr, bl::bind(bl::constructor<LabeledSymbol>(), bl::_1)) == c &&
bl::bind(&LabeledSymbol::label, bl::bind(bl::constructor<LabeledSymbol>(), bl::_1)) == label;
return boost::bind(&LabeledSymbol::chr, boost::bind(make, _1)) == c &&
boost::bind(&LabeledSymbol::label, boost::bind(make, _1)) == label;
}
/* ************************************************************************* */
} // \namespace gtsam

19
gtsam/inference/Symbol.cpp
View File

@ -18,19 +18,8 @@
#include <gtsam/inference/Symbol.h>
#include <boost/mpl/char.hpp>
#include <boost/format.hpp>
#include <boost/function.hpp>
#include <boost/lambda/construct.hpp>
#ifdef __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-variable"
#endif
#include <boost/lambda/bind.hpp>
#include <boost/lambda/lambda.hpp>
#ifdef __GNUC__
#pragma GCC diagnostic pop
#endif
#include <boost/bind.hpp>
#include <limits.h>
#include <list>
@ -71,10 +60,10 @@ Symbol::operator std::string() const {
return str(boost::format("%c%d") % c_ % j_);
}
static Symbol make(gtsam::Key key) { return Symbol(key);}
boost::function<bool(Key)> Symbol::ChrTest(unsigned char c) {
namespace bl = boost::lambda;
return bl::bind(&Symbol::chr, bl::bind(bl::constructor<Symbol>(), bl::_1))
== c;
return bind(&Symbol::chr, bind(make, _1)) == c;
}
} // namespace gtsam

17
gtsam/inference/tests/testKey.cpp
View File

@ -14,14 +14,14 @@
* @author Alex Cunningham
*/
#include <boost/assign/std/list.hpp> // for operator +=
using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/inference/Symbol.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/assign/std/list.hpp> // for operator +=
using namespace boost::assign;
using namespace std;
using namespace gtsam;
@ -65,6 +65,13 @@ TEST(Key, KeySymbolEncoding) {
EXPECT(assert_equal(symbol, Symbol(key)));
}
/* ************************************************************************* */
TEST(Key, ChrTest) {
Key key = Symbol('c',3);
EXPECT(Symbol::ChrTest('c')(key));
EXPECT(!Symbol::ChrTest('d')(key));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */

26
gtsam/inference/tests/testLabeledSymbol.cpp
View File

@ -14,20 +14,19 @@
* @author Alex Cunningham
*/
#include <boost/assign/std/list.hpp> // for operator +=
using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
#include <gtsam/inference/LabeledSymbol.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/inference/LabeledSymbol.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/assign/std/list.hpp> // for operator +=
using namespace boost::assign;
using namespace std;
using namespace gtsam;
/* ************************************************************************* */
TEST( testLabeledSymbol, KeyLabeledSymbolConversion ) {
TEST(LabeledSymbol, KeyLabeledSymbolConversion ) {
LabeledSymbol expected('x', 'A', 4);
Key key(expected);
LabeledSymbol actual(key);
@ -36,7 +35,7 @@ TEST( testLabeledSymbol, KeyLabeledSymbolConversion ) {
}
/* ************************************************************************* */
TEST( testLabeledSymbol, KeyLabeledSymbolEncoding ) {
TEST(LabeledSymbol, KeyLabeledSymbolEncoding ) {
// Test encoding of LabeledSymbol <-> size_t <-> string
// Encoding scheme:
@ -69,6 +68,17 @@ TEST( testLabeledSymbol, KeyLabeledSymbolEncoding ) {
}
}
/* ************************************************************************* */
TEST(LabeledSymbol, ChrTest) {
Key key = LabeledSymbol('c','A',3);
EXPECT(LabeledSymbol::TypeTest('c')(key));
EXPECT(!LabeledSymbol::TypeTest('d')(key));
EXPECT(LabeledSymbol::LabelTest('A')(key));
EXPECT(!LabeledSymbol::LabelTest('D')(key));
EXPECT(LabeledSymbol::TypeLabelTest('c','A')(key));
EXPECT(!LabeledSymbol::TypeLabelTest('c','D')(key));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */