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

replaced lambda with class plus functor

release/4.3a0
Jose Luis Blanco Claraco 2020-10-24 08:41:00 +02:00
parent 7aab3796b0
commit e3a28767ed
No known key found for this signature in database
GPG Key ID: D443304FBD70A641
2 changed files with 10 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
gtsam/inference/Symbol.h
View File

@ -165,13 +165,15 @@ inline Key Z(std::uint64_t j) { return Symbol('z', j); }
/** Generates symbol shorthands with alternative names different than the /** Generates symbol shorthands with alternative names different than the
* one-letter predefined ones. */ * one-letter predefined ones. */
inline std::function<Key(std::uint64_t)> alternativeName(const char c) { class SymbolGenerator {
return [c](std::uint64_t j) { return gtsam::Symbol(c, j); }; const char c_;
} public:
SymbolGenerator(const char c) : c_(c) {}
Symbol operator()(const std::uint64_t j) const { return Symbol(c_, j); }
};
} }
/// traits /// traits
template<> struct traits<Symbol> : public Testable<Symbol> {}; template<> struct traits<Symbol> : public Testable<Symbol> {};
} // \ namespace gtsam } // \ namespace gtsam

9
gtsam/inference/tests/testKey.cpp
View File

@ -41,14 +41,14 @@ TEST(Key, KeySymbolConversion) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Key, SymbolAlternativeNames) { TEST(Key, SymbolGenerator) {
const auto x1 = gtsam::symbol_shorthand::X(1); const auto x1 = gtsam::symbol_shorthand::X(1);
const auto v1 = gtsam::symbol_shorthand::V(1); const auto v1 = gtsam::symbol_shorthand::V(1);
const auto a1 = gtsam::symbol_shorthand::A(1); const auto a1 = gtsam::symbol_shorthand::A(1);
const auto Z = gtsam::symbol_shorthand::alternativeName('x'); const auto Z = gtsam::symbol_shorthand::SymbolGenerator('x');
const auto DZ = gtsam::symbol_shorthand::alternativeName('v'); const auto DZ = gtsam::symbol_shorthand::SymbolGenerator('v');
const auto DDZ = gtsam::symbol_shorthand::alternativeName('a'); const auto DDZ = gtsam::symbol_shorthand::SymbolGenerator('a');
const auto z1 = Z(1); const auto z1 = Z(1);
const auto dz1 = DZ(1); const auto dz1 = DZ(1);
@ -125,4 +125,3 @@ int main() {
return TestRegistry::runAllTests(tr); return TestRegistry::runAllTests(tr);
} }
/* ************************************************************************* */ /* ************************************************************************* */