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Isolated exception case for use of Symbol.key(), removed use of Symbol in several tests. Removed "using namespace xxx" in header

release/4.3a0
Alex Cunningham 2012-06-09 19:17:15 +00:00
parent dc879fe280
commit f45c236585
8 changed files with 227 additions and 211 deletions
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.cproject
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@ -311,14 +311,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -345,6 +337,7 @@
</target> </target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget> <buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -352,6 +345,7 @@
</target> </target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget> <buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -399,6 +393,7 @@
</target> </target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget> <buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -406,6 +401,7 @@
</target> </target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget> <buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -413,6 +409,7 @@
</target> </target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget> <buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -428,11 +425,20 @@
</target> </target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget> <buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>
@ -441,6 +447,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testIMUSystem.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testIMUSystem.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testBTree.run" path="build/gtsam_unstable/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testBTree.run" path="build/gtsam_unstable/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>
@ -513,22 +527,6 @@
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -545,6 +543,22 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -569,18 +583,26 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testValues.run</buildTarget> <buildTarget>all</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testOrdering.run</buildTarget> <buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -665,26 +687,18 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>all</buildTarget> <buildTarget>testValues.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>check</buildTarget> <buildTarget>testOrdering.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -931,6 +945,7 @@
</target> </target>
<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget> <buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -938,6 +953,7 @@
</target> </target>
<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget> <buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -945,6 +961,7 @@
</target> </target>
<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNetB.run</buildTarget> <buildTarget>testSymbolicBayesNetB.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1064,6 +1081,7 @@
</target> </target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget> <buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1519,7 +1537,6 @@
</target> </target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget> <buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1559,7 +1576,6 @@
</target> </target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget> <buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1567,7 +1583,6 @@
</target> </target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget> <buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1783,7 +1798,6 @@
</target> </target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget> <buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1805,102 +1819,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testRot3.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testRot2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testPose3.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>timeRot3.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testPose2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testCal3_S2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testSimpleCamera.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testHomography2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testCalibratedCamera.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testPoint2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -2102,6 +2020,7 @@
</target> </target>
<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G DEB</buildTarget> <buildTarget>-G DEB</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2109,6 +2028,7 @@
</target> </target>
<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G RPM</buildTarget> <buildTarget>-G RPM</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2116,6 +2036,7 @@
</target> </target>
<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G TGZ</buildTarget> <buildTarget>-G TGZ</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2123,6 +2044,7 @@
</target> </target>
<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>--config CPackSourceConfig.cmake</buildTarget> <buildTarget>--config CPackSourceConfig.cmake</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2216,42 +2138,98 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testSpirit.run</buildTarget> <buildTarget>testRot3.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testWrap.run</buildTarget> <buildTarget>testRot2.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>check.wrap</buildTarget> <buildTarget>testPose3.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="wrap_gtsam" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>wrap_gtsam</buildTarget> <buildTarget>timeRot3.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>wrap</buildTarget> <buildTarget>testPose2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testCal3_S2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testSimpleCamera.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testHomography2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testCalibratedCamera.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>check</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testPoint2.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -2295,6 +2273,46 @@
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testSpirit.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testWrap.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>check.wrap</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="wrap_gtsam" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>wrap_gtsam</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>wrap</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
</buildTargets> </buildTargets>
</storageModule> </storageModule>
</cproject> </cproject>

2
gtsam/nonlinear/tests/testKey.cpp
View File

@ -25,6 +25,8 @@ using namespace boost::assign;
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
Key aKey = gtsam::symbol_shorthand::X(4); // FIXME: throws index too large exception in Symbol.key()
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Key, KeySymbolConversion) { TEST(Key, KeySymbolConversion) {
Symbol original('j', 4); Symbol original('j', 4);

16
gtsam_unstable/dynamics/imuSystem.cpp
View File

@ -13,44 +13,44 @@ using namespace gtsam;
/* ************************************************************************* */ /* ************************************************************************* */
void Graph::addPrior(Key key, const PoseRTV& pose, const SharedNoiseModel& noiseModel) { void Graph::addPrior(Key key, const PoseRTV& pose, const SharedNoiseModel& noiseModel) {
add(Prior(PoseKey(key), pose, noiseModel)); add(Prior(key, pose, noiseModel));
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Graph::addConstraint(Key key, const PoseRTV& pose) { void Graph::addConstraint(Key key, const PoseRTV& pose) {
add(Constraint(PoseKey(key), pose)); add(Constraint(key, pose));
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Graph::addHeightPrior(Key key, double z, const SharedNoiseModel& noiseModel) { void Graph::addHeightPrior(Key key, double z, const SharedNoiseModel& noiseModel) {
add(DHeightPrior(PoseKey(key), z, noiseModel)); add(DHeightPrior(key, z, noiseModel));
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Graph::addFullIMUMeasurement(Key key1, Key key2, void Graph::addFullIMUMeasurement(Key key1, Key key2,
const Vector& accel, const Vector& gyro, double dt, const SharedNoiseModel& noiseModel) { const Vector& accel, const Vector& gyro, double dt, const SharedNoiseModel& noiseModel) {
add(FullIMUMeasurement(accel, gyro, dt, PoseKey(key1), PoseKey(key2), noiseModel)); add(FullIMUMeasurement(accel, gyro, dt, key1, key2, noiseModel));
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Graph::addIMUMeasurement(Key key1, Key key2, void Graph::addIMUMeasurement(Key key1, Key key2,
const Vector& accel, const Vector& gyro, double dt, const SharedNoiseModel& noiseModel) { const Vector& accel, const Vector& gyro, double dt, const SharedNoiseModel& noiseModel) {
add(IMUMeasurement(accel, gyro, dt, PoseKey(key1), PoseKey(key2), noiseModel)); add(IMUMeasurement(accel, gyro, dt, key1, key2, noiseModel));
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Graph::addVelocityConstraint(Key key1, Key key2, double dt, const SharedNoiseModel& noiseModel) { void Graph::addVelocityConstraint(Key key1, Key key2, double dt, const SharedNoiseModel& noiseModel) {
add(VelocityConstraint(PoseKey(key1), PoseKey(key2), dt, noiseModel)); add(VelocityConstraint(key1, key2, dt, noiseModel));
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Graph::addBetween(Key key1, Key key2, const PoseRTV& z, const SharedNoiseModel& noiseModel) { void Graph::addBetween(Key key1, Key key2, const PoseRTV& z, const SharedNoiseModel& noiseModel) {
add(Between(PoseKey(key1), PoseKey(key2), z, noiseModel)); add(Between(key1, key2, z, noiseModel));
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Graph::addRange(Key key1, Key key2, double z, const SharedNoiseModel& noiseModel) { void Graph::addRange(Key key1, Key key2, double z, const SharedNoiseModel& noiseModel) {
add(Range(PoseKey(key1), PoseKey(key2), z, noiseModel)); add(Range(key1, key2, z, noiseModel));
} }
/* ************************************************************************* */ /* ************************************************************************* */

46
gtsam_unstable/dynamics/imuSystem.h
View File

@ -6,11 +6,6 @@
#pragma once #pragma once
#include <boost/shared_ptr.hpp>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/Key.h>
#include <gtsam/nonlinear/Symbol.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/PriorFactor.h> #include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/RangeFactor.h> #include <gtsam/slam/RangeFactor.h>
@ -34,11 +29,6 @@
*/ */
namespace imu { namespace imu {
using namespace gtsam;
// Values: just poses
inline Symbol PoseKey(Index j) { return Symbol('x', j); }
struct Values : public gtsam::Values { struct Values : public gtsam::Values {
typedef gtsam::Values Base; typedef gtsam::Values Base;
@ -46,39 +36,39 @@ struct Values : public gtsam::Values {
Values(const Values& values) : Base(values) {} Values(const Values& values) : Base(values) {}
Values(const Base& values) : Base(values) {} Values(const Base& values) : Base(values) {}
void insertPose(Index key, const PoseRTV& pose) { insert(PoseKey(key), pose); } void insertPose(gtsam::Key key, const gtsam::PoseRTV& pose) { insert(key, pose); }
PoseRTV pose(Index key) const { return at<PoseRTV>(PoseKey(key)); } gtsam::PoseRTV pose(gtsam::Key key) const { return at<gtsam::PoseRTV>(key); }
}; };
// factors // factors
typedef IMUFactor<PoseRTV> IMUMeasurement; // IMU between measurements typedef gtsam::IMUFactor<gtsam::PoseRTV> IMUMeasurement; // IMU between measurements
typedef FullIMUFactor<PoseRTV> FullIMUMeasurement; // Full-state IMU between measurements typedef gtsam::FullIMUFactor<gtsam::PoseRTV> FullIMUMeasurement; // Full-state IMU between measurements
typedef BetweenFactor<PoseRTV> Between; // full odometry (including velocity) typedef gtsam::BetweenFactor<gtsam::PoseRTV> Between; // full odometry (including velocity)
typedef NonlinearEquality<PoseRTV> Constraint; typedef gtsam::NonlinearEquality<gtsam::PoseRTV> Constraint;
typedef PriorFactor<PoseRTV> Prior; typedef gtsam::PriorFactor<gtsam::PoseRTV> Prior;
typedef RangeFactor<PoseRTV, PoseRTV> Range; typedef gtsam::RangeFactor<gtsam::PoseRTV, gtsam::PoseRTV> Range;
// graph components // graph components
struct Graph : public NonlinearFactorGraph { struct Graph : public gtsam::NonlinearFactorGraph {
typedef NonlinearFactorGraph Base; typedef gtsam::NonlinearFactorGraph Base;
Graph() {} Graph() {}
Graph(const Base& graph) : Base(graph) {} Graph(const Base& graph) : Base(graph) {}
Graph(const Graph& graph) : Base(graph) {} Graph(const Graph& graph) : Base(graph) {}
// prior factors // prior factors
void addPrior(size_t key, const PoseRTV& pose, const SharedNoiseModel& noiseModel); void addPrior(size_t key, const gtsam::PoseRTV& pose, const gtsam::SharedNoiseModel& noiseModel);
void addConstraint(size_t key, const PoseRTV& pose); void addConstraint(size_t key, const gtsam::PoseRTV& pose);
void addHeightPrior(size_t key, double z, const SharedNoiseModel& noiseModel); void addHeightPrior(size_t key, double z, const gtsam::SharedNoiseModel& noiseModel);
// inertial factors // inertial factors
void addFullIMUMeasurement(size_t key1, size_t key2, const Vector& accel, const Vector& gyro, double dt, const SharedNoiseModel& noiseModel); void addFullIMUMeasurement(size_t key1, size_t key2, const gtsam::Vector& accel, const gtsam::Vector& gyro, double dt, const gtsam::SharedNoiseModel& noiseModel);
void addIMUMeasurement(size_t key1, size_t key2, const Vector& accel, const Vector& gyro, double dt, const SharedNoiseModel& noiseModel); void addIMUMeasurement(size_t key1, size_t key2, const gtsam::Vector& accel, const gtsam::Vector& gyro, double dt, const gtsam::SharedNoiseModel& noiseModel);
void addVelocityConstraint(size_t key1, size_t key2, double dt, const SharedNoiseModel& noiseModel); void addVelocityConstraint(size_t key1, size_t key2, double dt, const gtsam::SharedNoiseModel& noiseModel);
// other measurements // other measurements
void addBetween(size_t key1, size_t key2, const PoseRTV& z, const SharedNoiseModel& noiseModel); void addBetween(size_t key1, size_t key2, const gtsam::PoseRTV& z, const gtsam::SharedNoiseModel& noiseModel);
void addRange(size_t key1, size_t key2, double z, const SharedNoiseModel& noiseModel); void addRange(size_t key1, size_t key2, double z, const gtsam::SharedNoiseModel& noiseModel);
// optimization // optimization
Values optimize(const Values& init) const; Values optimize(const Values& init) const;

13
gtsam_unstable/dynamics/tests/testIMUSystem.cpp
View File

@ -3,6 +3,8 @@
* @author Alex Cunningham * @author Alex Cunningham
*/ */
#include <iostream>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <gtsam_unstable/dynamics/imuSystem.h> #include <gtsam_unstable/dynamics/imuSystem.h>
@ -13,10 +15,9 @@ using namespace imu;
const double tol=1e-5; const double tol=1e-5;
static const Key x0 = 0, x1 = 1, x2 = 2, x3 = 3, x4 = 4;
static const Vector g = delta(3, 2, -9.81); static const Vector g = delta(3, 2, -9.81);
Key x1 = PoseKey(1), x2 = PoseKey(2), x3 = PoseKey(3), x4 = PoseKey(4);
/* ************************************************************************* */ /* ************************************************************************* */
TEST(testIMUSystem, instantiations) { TEST(testIMUSystem, instantiations) {
// just checking for compilation // just checking for compilation
@ -149,14 +150,14 @@ TEST( testIMUSystem, linear_trajectory) {
imu::Values true_traj, init_traj; imu::Values true_traj, init_traj;
Graph graph; Graph graph;
graph.add(Constraint(PoseKey(0), start)); graph.add(Constraint(x0, start));
true_traj.insert(PoseKey(0), start); true_traj.insert(x0, start);
init_traj.insert(PoseKey(0), start); init_traj.insert(x0, start);
size_t nrPoses = 10; size_t nrPoses = 10;
PoseRTV cur_pose = start; PoseRTV cur_pose = start;
for (size_t i=1; i<nrPoses; ++i) { for (size_t i=1; i<nrPoses; ++i) {
Key xA = PoseKey(i-1), xB = PoseKey(i); Key xA = i-1, xB = i;
cur_pose = cur_pose.generalDynamics(accel, gyro, dt); cur_pose = cur_pose.generalDynamics(accel, gyro, dt);
graph.add(FullIMUMeasurement(accel - g, gyro, dt, xA, xB, model)); graph.add(FullIMUMeasurement(accel - g, gyro, dt, xA, xB, model));
true_traj.insert(xB, cur_pose); true_traj.insert(xB, cur_pose);

2
gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp
View File

@ -11,7 +11,7 @@ using namespace imu;
const double tol=1e-5; const double tol=1e-5;
Key x1 = PoseKey(1), x2 = PoseKey(2); const Key x1 = 1, x2 = 2;
const double dt = 1.0; const double dt = 1.0;
PoseRTV origin, PoseRTV origin,

15
tests/testBoundingConstraint.cpp
View File

@ -33,7 +33,7 @@ SharedDiagonal soft_model2_alt = noiseModel::Isotropic::Sigma(2, 0.1);
SharedDiagonal hard_model1 = noiseModel::Constrained::All(1); SharedDiagonal hard_model1 = noiseModel::Constrained::All(1);
// some simple inequality constraints // some simple inequality constraints
Symbol key('x',1); gtsam::Key key = 1;
double mu = 10.0; double mu = 10.0;
// greater than // greater than
iq2D::PoseXInequality constraint1(key, 1.0, true, mu); iq2D::PoseXInequality constraint1(key, 1.0, true, mu);
@ -169,23 +169,22 @@ TEST( testBoundingConstraint, unary_simple_optimization2) {
Point2 start_pt(2.0, 3.0); Point2 start_pt(2.0, 3.0);
NonlinearFactorGraph graph; NonlinearFactorGraph graph;
Symbol x1('x',1); graph.add(iq2D::PoseXInequality(key, 1.0, false));
graph.add(iq2D::PoseXInequality(x1, 1.0, false)); graph.add(iq2D::PoseYInequality(key, 2.0, false));
graph.add(iq2D::PoseYInequality(x1, 2.0, false)); graph.add(simulated2D::Prior(start_pt, soft_model2, key));
graph.add(simulated2D::Prior(start_pt, soft_model2, x1));
Values initValues; Values initValues;
initValues.insert(x1, start_pt); initValues.insert(key, start_pt);
Values actual = LevenbergMarquardtOptimizer(graph, initValues).optimize(); Values actual = LevenbergMarquardtOptimizer(graph, initValues).optimize();
Values expected; Values expected;
expected.insert(x1, goal_pt); expected.insert(key, goal_pt);
CHECK(assert_equal(expected, actual, tol)); CHECK(assert_equal(expected, actual, tol));
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( testBoundingConstraint, MaxDistance_basics) { TEST( testBoundingConstraint, MaxDistance_basics) {
Symbol key1('x',1), key2('x',2); gtsam::Key key1 = 1, key2 = 2;
Point2 pt1, pt2(1.0, 0.0), pt3(2.0, 0.0), pt4(3.0, 0.0); Point2 pt1, pt2(1.0, 0.0), pt3(2.0, 0.0), pt4(3.0, 0.0);
iq2D::PoseMaxDistConstraint rangeBound(key1, key2, 2.0, mu); iq2D::PoseMaxDistConstraint rangeBound(key1, key2, 2.0, mu);
EXPECT_DOUBLES_EQUAL(2.0, rangeBound.threshold(), tol); EXPECT_DOUBLES_EQUAL(2.0, rangeBound.threshold(), tol);

8
tests/testGaussianFactor.cpp
View File

@ -44,11 +44,12 @@ static SharedDiagonal
sigma0_1 = sharedSigma(2,0.1), sigma_02 = sharedSigma(2,0.2), sigma0_1 = sharedSigma(2,0.1), sigma_02 = sharedSigma(2,0.2),
constraintModel = noiseModel::Constrained::All(2); constraintModel = noiseModel::Constrained::All(2);
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); //const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); // FIXME: throws exception
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GaussianFactor, linearFactor ) TEST( GaussianFactor, linearFactor )
{ {
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
Ordering ordering; ordering += kx1,kx2,kl1; Ordering ordering; ordering += kx1,kx2,kl1;
Matrix I = eye(2); Matrix I = eye(2);
@ -95,6 +96,7 @@ TEST( GaussianFactor, linearFactor )
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GaussianFactor, getDim ) TEST( GaussianFactor, getDim )
{ {
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
// get a factor // get a factor
Ordering ordering; ordering += kx1,kx2,kl1; Ordering ordering; ordering += kx1,kx2,kl1;
GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
@ -167,6 +169,7 @@ TEST( GaussianFactor, getDim )
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GaussianFactor, error ) TEST( GaussianFactor, error )
{ {
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
// create a small linear factor graph // create a small linear factor graph
Ordering ordering; ordering += kx1,kx2,kl1; Ordering ordering; ordering += kx1,kx2,kl1;
GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
@ -227,6 +230,7 @@ TEST( GaussianFactor, error )
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GaussianFactor, matrix ) TEST( GaussianFactor, matrix )
{ {
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
// create a small linear factor graph // create a small linear factor graph
Ordering ordering; ordering += kx1,kx2,kl1; Ordering ordering; ordering += kx1,kx2,kl1;
FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering); FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering);
@ -275,6 +279,7 @@ TEST( GaussianFactor, matrix )
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GaussianFactor, matrix_aug ) TEST( GaussianFactor, matrix_aug )
{ {
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
// create a small linear factor graph // create a small linear factor graph
Ordering ordering; ordering += kx1,kx2,kl1; Ordering ordering; ordering += kx1,kx2,kl1;
FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering); FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering);
@ -387,6 +392,7 @@ void print(const list<T>& i) {
TEST( GaussianFactor, size ) TEST( GaussianFactor, size )
{ {
// create a linear factor graph // create a linear factor graph
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
Ordering ordering; ordering += kx1,kx2,kl1; Ordering ordering; ordering += kx1,kx2,kl1;
GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);