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Windows Tests #1109

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merged 18 commits into from
Feb 22, 2022
+190 −121
Merged

Windows Tests #1109

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6e6c647
basis module tests pass
varunagrawal Feb 17, 2022
b13a219
update METIS test for _WIN32
varunagrawal Feb 17, 2022
7712158
sfm tests pass
varunagrawal Feb 17, 2022
beeb91a
symbolic tests pass
varunagrawal Feb 17, 2022
865a7ba
navigation tests passing
varunagrawal Feb 17, 2022
2e5bdcd
fixed dllexport issues in nonlinear, only tests failing
varunagrawal Feb 17, 2022
38425f1
fixed dllexport issues in slam, only tests failing
varunagrawal Feb 17, 2022
1e1e2c2
move Line3 transformTo definition to header to resolve ambiguity
varunagrawal Feb 17, 2022
fcd418a
fixed dllexport issues in geometry, only tests failing
varunagrawal Feb 17, 2022
566c7b9
Fix discrete module
varunagrawal Feb 17, 2022
770587d
documentation updates
varunagrawal Feb 17, 2022
d860e39
suppress spurious warnings
varunagrawal Feb 17, 2022
9a234a2
build (almost) all GTSAM test targets in CI
varunagrawal Feb 17, 2022
12d1d21
formatting updates
varunagrawal Feb 17, 2022
6fe55af
comment out gtsam_unstable test target
varunagrawal Feb 17, 2022
1545d90
Move transformTo declaration to the top to avoid ambiguous linkage
varunagrawal Feb 17, 2022
57a51a7
Assignment accidentally used in place of equality
mikesheffler Feb 18, 2022
e4733e7
* Repaired actual test (needs '49', not '54'?) and LONGS_EQUAL instea…
mikesheffler Feb 21, 2022
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move Line3 transformTo definition to header to resolve ambiguity
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@varunagrawal
varunagrawal committed Feb 17, 2022
commit 1e1e2c26ee5b98f7fea8a56fba6928c73c31782b
28 changes: 1 addition & 27 deletions gtsam/geometry/Line3.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,30 +91,4 @@ Point3 Line3::point(double distance) const {
return rotated_center + distance * R_.r3();
}

Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
OptionalJacobian<4, 6> Dpose, OptionalJacobian<4, 4> Dline) {
Rot3 wRc = wTc.rotation();
Rot3 cRw = wRc.inverse();
Rot3 cRl = cRw * wL.R_;

Vector2 w_ab;
Vector3 t = ((wL.R_).transpose() * wTc.translation());
Vector2 c_ab(wL.a_ - t[0], wL.b_ - t[1]);

if (Dpose) {
Matrix3 lRc = (cRl.matrix()).transpose();
Dpose->setZero();
// rotation
Dpose->block<2, 3>(0, 0) = -lRc.block<2, 3>(0, 0);
// translation
Dpose->block<2, 3>(2, 3) = -lRc.block<2, 3>(0, 0);
}
if (Dline) {
Dline->setIdentity();
(*Dline)(0, 3) = -t[2];
(*Dline)(1, 2) = t[2];
}
return Line3(cRl, c_ab[0], c_ab[1]);
}

}
} // namespace gtsam
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Why ?

27 changes: 25 additions & 2 deletions gtsam/geometry/Line3.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ namespace gtsam {
* @addtogroup geometry
* \nosubgrouping
*/
class Line3 {
class GTSAM_EXPORT Line3 {
private:
Rot3 R_; // Rotation of line about x and y in world frame
double a_, b_; // Intersection of line with the world x-y plane rotated by R_
Expand Down Expand Up @@ -146,7 +146,30 @@ class Line3 {
*/
Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
OptionalJacobian<4, 6> Dpose = boost::none,
OptionalJacobian<4, 4> Dline = boost::none);
OptionalJacobian<4, 4> Dline = boost::none) {
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I had trouble with definitions in headers. Should be inline? But I don't understand why we can't just export here and leave definition in .cpp?

Rot3 wRc = wTc.rotation();
Rot3 cRw = wRc.inverse();
Rot3 cRl = cRw * wL.R_;

Vector2 w_ab;
Vector3 t = ((wL.R_).transpose() * wTc.translation());
Vector2 c_ab(wL.a_ - t[0], wL.b_ - t[1]);

if (Dpose) {
Matrix3 lRc = (cRl.matrix()).transpose();
Dpose->setZero();
// rotation
Dpose->block<2, 3>(0, 0) = -lRc.block<2, 3>(0, 0);
// translation
Dpose->block<2, 3>(2, 3) = -lRc.block<2, 3>(0, 0);
}
if (Dline) {
Dline->setIdentity();
(*Dline)(0, 3) = -t[2];
(*Dline)(1, 2) = t[2];
}
return Line3(cRl, c_ab[0], c_ab[1]);
}

template<>
struct traits<Line3> : public internal::Manifold<Line3> {};
Expand Down