Isolated exception case for use of Symbol.key(), removed use of Symbol in several tests. Removed "using namespace xxx" in header
Alex Cunningham
parent
dc879fe280
commit
f45c236585
336
.cproject
336
.cproject
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@ -311,14 +311,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -345,6 +337,7 @@
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</target>
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<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -352,6 +345,7 @@
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</target>
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<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBinaryBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -399,6 +393,7 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -406,6 +401,7 @@
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</target>
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<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testSymbolicFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -413,6 +409,7 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -428,11 +425,20 @@
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</target>
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<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -441,6 +447,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testIMUSystem.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testIMUSystem.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testBTree.run" path="build/gtsam_unstable/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -513,22 +527,6 @@
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -545,6 +543,22 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -569,18 +583,26 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testValues.run</buildTarget>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testOrdering.run</buildTarget>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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@ -665,26 +687,18 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testValues.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testOrdering.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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@ -931,6 +945,7 @@
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</target>
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<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -938,6 +953,7 @@
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</target>
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<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testJunctionTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -945,6 +961,7 @@
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</target>
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<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNetB.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1064,6 +1081,7 @@
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</target>
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<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testErrors.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1519,7 +1537,6 @@
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</target>
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2DOriented.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1559,7 +1576,6 @@
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</target>
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1567,7 +1583,6 @@
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</target>
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<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated3D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1783,7 +1798,6 @@
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</target>
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testGaussianISAM2</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1805,102 +1819,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testRot3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testRot2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testPose3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>timeRot3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testPose2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testCal3_S2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testSimpleCamera.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testHomography2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testCalibratedCamera.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testPoint2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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|
|
@ -2102,6 +2020,7 @@
|
|||
</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>
|
||||
|
|
@ -2109,6 +2028,7 @@
|
|||
</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>
|
||||
|
|
@ -2116,6 +2036,7 @@
|
|||
</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>
|
||||
|
|
@ -2123,6 +2044,7 @@
|
|||
</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>
|
||||
|
|
@ -2216,42 +2138,98 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testSpirit.run</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot3.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">
|
||||
<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testWrap.run</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot2.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">
|
||||
<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>check.wrap</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPose3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>wrap_gtsam</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>timeRot3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>wrap</buildTarget>
|
||||
<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>
|
||||
|
|
@ -2295,6 +2273,46 @@
|
|||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</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>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
|
|
|
|||
|
|
@ -25,6 +25,8 @@ using namespace boost::assign;
|
|||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
||||
Key aKey = gtsam::symbol_shorthand::X(4); // FIXME: throws index too large exception in Symbol.key()
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(Key, KeySymbolConversion) {
|
||||
Symbol original('j', 4);
|
||||
|
|
|
|||
|
|
@ -13,44 +13,44 @@ using namespace gtsam;
|
|||
|
||||
/* ************************************************************************* */
|
||||
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) {
|
||||
add(Constraint(PoseKey(key), pose));
|
||||
add(Constraint(key, pose));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
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,
|
||||
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,
|
||||
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) {
|
||||
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) {
|
||||
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) {
|
||||
add(Range(PoseKey(key1), PoseKey(key2), z, noiseModel));
|
||||
add(Range(key1, key2, z, noiseModel));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -6,11 +6,6 @@
|
|||
|
||||
#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/PriorFactor.h>
|
||||
#include <gtsam/slam/RangeFactor.h>
|
||||
|
|
@ -34,11 +29,6 @@
|
|||
*/
|
||||
namespace imu {
|
||||
|
||||
using namespace gtsam;
|
||||
|
||||
// Values: just poses
|
||||
inline Symbol PoseKey(Index j) { return Symbol('x', j); }
|
||||
|
||||
struct Values : public gtsam::Values {
|
||||
typedef gtsam::Values Base;
|
||||
|
||||
|
|
@ -46,39 +36,39 @@ struct Values : public gtsam::Values {
|
|||
Values(const Values& values) : Base(values) {}
|
||||
Values(const Base& values) : Base(values) {}
|
||||
|
||||
void insertPose(Index key, const PoseRTV& pose) { insert(PoseKey(key), pose); }
|
||||
PoseRTV pose(Index key) const { return at<PoseRTV>(PoseKey(key)); }
|
||||
void insertPose(gtsam::Key key, const gtsam::PoseRTV& pose) { insert(key, pose); }
|
||||
gtsam::PoseRTV pose(gtsam::Key key) const { return at<gtsam::PoseRTV>(key); }
|
||||
};
|
||||
|
||||
// factors
|
||||
typedef IMUFactor<PoseRTV> IMUMeasurement; // IMU between measurements
|
||||
typedef FullIMUFactor<PoseRTV> FullIMUMeasurement; // Full-state IMU between measurements
|
||||
typedef BetweenFactor<PoseRTV> Between; // full odometry (including velocity)
|
||||
typedef NonlinearEquality<PoseRTV> Constraint;
|
||||
typedef PriorFactor<PoseRTV> Prior;
|
||||
typedef RangeFactor<PoseRTV, PoseRTV> Range;
|
||||
typedef gtsam::IMUFactor<gtsam::PoseRTV> IMUMeasurement; // IMU between measurements
|
||||
typedef gtsam::FullIMUFactor<gtsam::PoseRTV> FullIMUMeasurement; // Full-state IMU between measurements
|
||||
typedef gtsam::BetweenFactor<gtsam::PoseRTV> Between; // full odometry (including velocity)
|
||||
typedef gtsam::NonlinearEquality<gtsam::PoseRTV> Constraint;
|
||||
typedef gtsam::PriorFactor<gtsam::PoseRTV> Prior;
|
||||
typedef gtsam::RangeFactor<gtsam::PoseRTV, gtsam::PoseRTV> Range;
|
||||
|
||||
// graph components
|
||||
struct Graph : public NonlinearFactorGraph {
|
||||
typedef NonlinearFactorGraph Base;
|
||||
struct Graph : public gtsam::NonlinearFactorGraph {
|
||||
typedef gtsam::NonlinearFactorGraph Base;
|
||||
|
||||
Graph() {}
|
||||
Graph(const Base& graph) : Base(graph) {}
|
||||
Graph(const Graph& graph) : Base(graph) {}
|
||||
|
||||
// prior factors
|
||||
void addPrior(size_t key, const PoseRTV& pose, const SharedNoiseModel& noiseModel);
|
||||
void addConstraint(size_t key, const PoseRTV& pose);
|
||||
void addHeightPrior(size_t key, double z, const SharedNoiseModel& noiseModel);
|
||||
void addPrior(size_t key, const gtsam::PoseRTV& pose, const gtsam::SharedNoiseModel& noiseModel);
|
||||
void addConstraint(size_t key, const gtsam::PoseRTV& pose);
|
||||
void addHeightPrior(size_t key, double z, const gtsam::SharedNoiseModel& noiseModel);
|
||||
|
||||
// inertial factors
|
||||
void addFullIMUMeasurement(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 Vector& accel, const Vector& gyro, double dt, const SharedNoiseModel& noiseModel);
|
||||
void addVelocityConstraint(size_t key1, size_t key2, 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 gtsam::Vector& accel, const gtsam::Vector& gyro, double dt, const gtsam::SharedNoiseModel& noiseModel);
|
||||
void addVelocityConstraint(size_t key1, size_t key2, double dt, const gtsam::SharedNoiseModel& noiseModel);
|
||||
|
||||
// other measurements
|
||||
void addBetween(size_t key1, size_t key2, const PoseRTV& z, const SharedNoiseModel& noiseModel);
|
||||
void addRange(size_t key1, size_t key2, double 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 gtsam::SharedNoiseModel& noiseModel);
|
||||
|
||||
// optimization
|
||||
Values optimize(const Values& init) const;
|
||||
|
|
|
|||
|
|
@ -3,6 +3,8 @@
|
|||
* @author Alex Cunningham
|
||||
*/
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#include <CppUnitLite/TestHarness.h>
|
||||
|
||||
#include <gtsam_unstable/dynamics/imuSystem.h>
|
||||
|
|
@ -13,10 +15,9 @@ using namespace imu;
|
|||
|
||||
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);
|
||||
|
||||
Key x1 = PoseKey(1), x2 = PoseKey(2), x3 = PoseKey(3), x4 = PoseKey(4);
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST(testIMUSystem, instantiations) {
|
||||
// just checking for compilation
|
||||
|
|
@ -149,14 +150,14 @@ TEST( testIMUSystem, linear_trajectory) {
|
|||
imu::Values true_traj, init_traj;
|
||||
Graph graph;
|
||||
|
||||
graph.add(Constraint(PoseKey(0), start));
|
||||
true_traj.insert(PoseKey(0), start);
|
||||
init_traj.insert(PoseKey(0), start);
|
||||
graph.add(Constraint(x0, start));
|
||||
true_traj.insert(x0, start);
|
||||
init_traj.insert(x0, start);
|
||||
|
||||
size_t nrPoses = 10;
|
||||
PoseRTV cur_pose = start;
|
||||
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);
|
||||
graph.add(FullIMUMeasurement(accel - g, gyro, dt, xA, xB, model));
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true_traj.insert(xB, cur_pose);
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|
|
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@ -11,7 +11,7 @@ using namespace imu;
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|
||||
const double tol=1e-5;
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Key x1 = PoseKey(1), x2 = PoseKey(2);
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const Key x1 = 1, x2 = 2;
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const double dt = 1.0;
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PoseRTV origin,
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|
|
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@ -33,7 +33,7 @@ SharedDiagonal soft_model2_alt = noiseModel::Isotropic::Sigma(2, 0.1);
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SharedDiagonal hard_model1 = noiseModel::Constrained::All(1);
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|
||||
// some simple inequality constraints
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Symbol key('x',1);
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||||
gtsam::Key key = 1;
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||||
double mu = 10.0;
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// greater than
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||||
iq2D::PoseXInequality constraint1(key, 1.0, true, mu);
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||||
|
|
@ -169,23 +169,22 @@ TEST( testBoundingConstraint, unary_simple_optimization2) {
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Point2 start_pt(2.0, 3.0);
|
||||
|
||||
NonlinearFactorGraph graph;
|
||||
Symbol x1('x',1);
|
||||
graph.add(iq2D::PoseXInequality(x1, 1.0, false));
|
||||
graph.add(iq2D::PoseYInequality(x1, 2.0, false));
|
||||
graph.add(simulated2D::Prior(start_pt, soft_model2, x1));
|
||||
graph.add(iq2D::PoseXInequality(key, 1.0, false));
|
||||
graph.add(iq2D::PoseYInequality(key, 2.0, false));
|
||||
graph.add(simulated2D::Prior(start_pt, soft_model2, key));
|
||||
|
||||
Values initValues;
|
||||
initValues.insert(x1, start_pt);
|
||||
initValues.insert(key, start_pt);
|
||||
|
||||
Values actual = LevenbergMarquardtOptimizer(graph, initValues).optimize();
|
||||
Values expected;
|
||||
expected.insert(x1, goal_pt);
|
||||
expected.insert(key, goal_pt);
|
||||
CHECK(assert_equal(expected, actual, tol));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
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);
|
||||
iq2D::PoseMaxDistConstraint rangeBound(key1, key2, 2.0, mu);
|
||||
EXPECT_DOUBLES_EQUAL(2.0, rangeBound.threshold(), tol);
|
||||
|
|
|
|||
|
|
@ -44,11 +44,12 @@ static SharedDiagonal
|
|||
sigma0_1 = sharedSigma(2,0.1), sigma_02 = sharedSigma(2,0.2),
|
||||
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 )
|
||||
{
|
||||
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
|
||||
Ordering ordering; ordering += kx1,kx2,kl1;
|
||||
|
||||
Matrix I = eye(2);
|
||||
|
|
@ -95,6 +96,7 @@ TEST( GaussianFactor, linearFactor )
|
|||
/* ************************************************************************* */
|
||||
TEST( GaussianFactor, getDim )
|
||||
{
|
||||
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
|
||||
// get a factor
|
||||
Ordering ordering; ordering += kx1,kx2,kl1;
|
||||
GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
|
||||
|
|
@ -167,6 +169,7 @@ TEST( GaussianFactor, getDim )
|
|||
/* ************************************************************************* */
|
||||
TEST( GaussianFactor, error )
|
||||
{
|
||||
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
|
||||
// create a small linear factor graph
|
||||
Ordering ordering; ordering += kx1,kx2,kl1;
|
||||
GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
|
||||
|
|
@ -227,6 +230,7 @@ TEST( GaussianFactor, error )
|
|||
/* ************************************************************************* */
|
||||
TEST( GaussianFactor, matrix )
|
||||
{
|
||||
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
|
||||
// create a small linear factor graph
|
||||
Ordering ordering; ordering += kx1,kx2,kl1;
|
||||
FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering);
|
||||
|
|
@ -275,6 +279,7 @@ TEST( GaussianFactor, matrix )
|
|||
/* ************************************************************************* */
|
||||
TEST( GaussianFactor, matrix_aug )
|
||||
{
|
||||
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
|
||||
// create a small linear factor graph
|
||||
Ordering ordering; ordering += kx1,kx2,kl1;
|
||||
FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering);
|
||||
|
|
@ -387,6 +392,7 @@ void print(const list<T>& i) {
|
|||
TEST( GaussianFactor, size )
|
||||
{
|
||||
// create a linear factor graph
|
||||
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
|
||||
Ordering ordering; ordering += kx1,kx2,kl1;
|
||||
GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue