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Fixed build with gtsam 4.3.0 (#1033)

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This commit is contained in:
matlabbe
2023-05-14 13:14:53 -07:00
committed by GitHub
parent ba33c080bc
commit 682d54725a
8 changed files with 113 additions and 16 deletions
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corelib/src/optimizer/vertigo/gtsam/DerivedValue.h
+6
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@@ -72,9 +72,15 @@ public:
/**
* Clone this value (normal clone on the heap, delete with 'delete' operator)
*/
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
virtual std::shared_ptr<gtsam::Value> clone() const {
return std::make_shared<DERIVED>(static_cast<const DERIVED&>(*this));
}
#else
virtual boost::shared_ptr<gtsam::Value> clone() const {
return boost::make_shared<DERIVED>(static_cast<const DERIVED&>(*this));
}
#endif
/// equals implementing generic Value interface
virtual bool equals_(const gtsam::Value& p, double tol = 1e-9) const {
corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h
+16 -4
View File
@@ -30,9 +30,15 @@ namespace vertigo {
betweenFactor(key1, key2, measured, model) {};
gtsam::Vector evaluateError(const VALUE& p1, const VALUE& p2, const SwitchVariableLinear& s,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
OptionalMatrixType H1 = OptionalNone,
OptionalMatrixType H2 = OptionalNone,
OptionalMatrixType H3 = OptionalNone) const
#else
boost::optional<gtsam::Matrix&> H1 = boost::none,
boost::optional<gtsam::Matrix&> H2 = boost::none,
boost::optional<gtsam::Matrix&> H3 = boost::none) const
boost::optional<gtsam::Matrix&> H2 = boost::none,
boost::optional<gtsam::Matrix&> H3 = boost::none) const
#endif
{
// calculate error
@@ -64,9 +70,15 @@ namespace vertigo {
betweenFactor(key1, key2, measured, model) {};
gtsam::Vector evaluateError(const VALUE& p1, const VALUE& p2, const SwitchVariableSigmoid& s,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
OptionalMatrixType H1 = OptionalNone,
OptionalMatrixType H2 = OptionalNone,
OptionalMatrixType H3 = OptionalNone) const
#else
boost::optional<gtsam::Matrix&> H1 = boost::none,
boost::optional<gtsam::Matrix&> H2 = boost::none,
boost::optional<gtsam::Matrix&> H3 = boost::none) const
boost::optional<gtsam::Matrix&> H2 = boost::none,
boost::optional<gtsam::Matrix&> H3 = boost::none) const
#endif
{
// calculate error
corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h
+15 -2
View File
@@ -76,8 +76,13 @@ namespace vertigo {
/** between operation */
inline SwitchVariableLinear between(const SwitchVariableLinear& l2,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
OptionalMatrixType H1=OptionalNone,
OptionalMatrixType H2=OptionalNone) const {
#else
boost::optional<gtsam::Matrix&> H1=boost::none,
boost::optional<gtsam::Matrix&> H2=boost::none) const {
#endif
if(H1) *H1 = -gtsam::Matrix::Identity(1, 1);
if(H2) *H2 = gtsam::Matrix::Identity(1, 1);
return SwitchVariableLinear(l2.value() - value());
@@ -116,11 +121,19 @@ template<> struct traits<vertigo::SwitchVariableLinear> {
typedef OptionalJacobian<3, 3> ChartJacobian;
typedef gtsam::Vector TangentVector;
static TangentVector Local(const vertigo::SwitchVariableLinear& origin, const vertigo::SwitchVariableLinear& other,
ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
ChartJacobian Horigin = {}, ChartJacobian Hother = {}) {
#else
ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
#endif
return origin.localCoordinates(other);
}
static vertigo::SwitchVariableLinear Retract(const vertigo::SwitchVariableLinear& g, const TangentVector& v,
ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
ChartJacobian H1 = {}, ChartJacobian H2 = {}) {
#else
ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
#endif
return g.retract(v);
}
};
corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h
+14 -1
View File
@@ -76,8 +76,13 @@ namespace vertigo {
/** between operation */
inline SwitchVariableSigmoid between(const SwitchVariableSigmoid& l2,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
OptionalMatrixType H1=OptionalNone,
OptionalMatrixType H2=OptionalNone) const {
#else
boost::optional<gtsam::Matrix&> H1=boost::none,
boost::optional<gtsam::Matrix&> H2=boost::none) const {
#endif
if(H1) *H1 = -gtsam::Matrix::Identity(1, 1);
if(H2) *H2 = gtsam::Matrix::Identity(1, 1);
return SwitchVariableSigmoid(l2.value() - value());
@@ -117,11 +122,19 @@ template<> struct traits<vertigo::SwitchVariableSigmoid> {
typedef OptionalJacobian<3, 3> ChartJacobian;
typedef gtsam::Vector TangentVector;
static TangentVector Local(const vertigo::SwitchVariableSigmoid& origin, const vertigo::SwitchVariableSigmoid& other,
ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
ChartJacobian Horigin = {}, ChartJacobian Hother = {}) {
#else
ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
#endif
return origin.localCoordinates(other);
}
static vertigo::SwitchVariableSigmoid Retract(const vertigo::SwitchVariableSigmoid& g, const TangentVector& v,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
ChartJacobian H1 = {}, ChartJacobian H2 = {}) {
#else
ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
#endif
return g.retract(v);
}
};