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Commit fed72834 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Completely remove ConstraintCategory enum

parent 4c88ec46
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src/constraint_base.cpp
+ 3
− 81
View file @ fed72834
...@@ -11,7 +11,6 @@ ConstraintBase::ConstraintBase(ConstraintType _tp, bool _apply_loss_function, Co ...@@ -11,7 +11,6 @@ ConstraintBase::ConstraintBase(ConstraintType _tp, bool _apply_loss_function, Co
feature_ptr_(), // nullptr feature_ptr_(), // nullptr
constraint_id_(++constraint_id_count_), constraint_id_(++constraint_id_count_),
type_id_(_tp), type_id_(_tp),
category_(CTR_ABSOLUTE),
status_(_status), status_(_status),
apply_loss_function_(_apply_loss_function), apply_loss_function_(_apply_loss_function),
frame_other_ptr_(), // nullptr frame_other_ptr_(), // nullptr
...@@ -30,7 +29,6 @@ ConstraintBase::ConstraintBase(ConstraintType _tp, FrameBasePtr _frame_other_ptr ...@@ -30,7 +29,6 @@ ConstraintBase::ConstraintBase(ConstraintType _tp, FrameBasePtr _frame_other_ptr
feature_ptr_(), feature_ptr_(),
constraint_id_(++constraint_id_count_), constraint_id_(++constraint_id_count_),
type_id_(_tp), type_id_(_tp),
category_(CTR_FRAME),
status_(_status), status_(_status),
apply_loss_function_(_apply_loss_function), apply_loss_function_(_apply_loss_function),
frame_other_ptr_(_frame_other_ptr), frame_other_ptr_(_frame_other_ptr),
...@@ -40,53 +38,6 @@ ConstraintBase::ConstraintBase(ConstraintType _tp, FrameBasePtr _frame_other_ptr ...@@ -40,53 +38,6 @@ ConstraintBase::ConstraintBase(ConstraintType _tp, FrameBasePtr _frame_other_ptr
// std::cout << "constructed +c" << id() << std::endl; // std::cout << "constructed +c" << id() << std::endl;
} }
//ConstraintBase::ConstraintBase(ConstraintType _tp, FrameBasePtr _frame_other_ptr, bool _apply_loss_function, ConstraintStatus _status) :
// NodeBase("CONSTRAINT", "Base"),
// feature_ptr_(),
// constraint_id_(++constraint_id_count_),
// type_id_(_tp),
// category_(CTR_FRAME),
// status_(_status),
// apply_loss_function_(_apply_loss_function),
// frame_other_ptr_(_frame_other_ptr),
// feature_other_ptr_(),
// landmark_other_ptr_()
//{
//// std::cout << "constructed +c" << id() << std::endl;
//}
//
//
//ConstraintBase::ConstraintBase(ConstraintType _tp, FeatureBasePtr _feature_other_ptr, bool _apply_loss_function, ConstraintStatus _status) :
// NodeBase("CONSTRAINT"),
// feature_ptr_(),
// constraint_id_(++constraint_id_count_),
// type_id_(_tp),
// category_(CTR_FEATURE),
// status_(_status),
// apply_loss_function_(_apply_loss_function),
// frame_other_ptr_(),
// feature_other_ptr_(_feature_other_ptr),
// landmark_other_ptr_()
//{
//// std::cout << "constructed +c" << id() << std::endl;
//}
//
//
//ConstraintBase::ConstraintBase(ConstraintType _tp, LandmarkBasePtr _landmark_other_ptr, bool _apply_loss_function, ConstraintStatus _status) :
// NodeBase("CONSTRAINT"),
// feature_ptr_(),
// constraint_id_(++constraint_id_count_),
// type_id_(_tp),
// category_(CTR_LANDMARK),
// status_(_status),
// apply_loss_function_(_apply_loss_function),
// frame_other_ptr_(),
// feature_other_ptr_(),
// landmark_other_ptr_(_landmark_other_ptr)
//{
//// std::cout << "constructed +c" << id() << std::endl;
//}
ConstraintBase::~ConstraintBase() ConstraintBase::~ConstraintBase()
{ {
// std::cout << "destructed -c" << id() << std::endl; // std::cout << "destructed -c" << id() << std::endl;
...@@ -109,20 +60,7 @@ void ConstraintBase::remove() ...@@ -109,20 +60,7 @@ void ConstraintBase::remove()
if (getProblem() != nullptr) if (getProblem() != nullptr)
getProblem()->removeConstraintPtr(shared_from_this()); getProblem()->removeConstraintPtr(shared_from_this());
// remove other: {Frame, feature, Landmark} // remove other: {Frame, feature, Landmark}
// switch (category_)
// {
// case CTR_FRAME:
// {
// if (frame_other_ptr_ != nullptr)
// {
FrameBasePtr frm_o = frame_other_ptr_.lock(); FrameBasePtr frm_o = frame_other_ptr_.lock();
if (frm_o) if (frm_o)
{ {
...@@ -130,12 +68,7 @@ void ConstraintBase::remove() ...@@ -130,12 +68,7 @@ void ConstraintBase::remove()
if (frm_o->getConstrainedByList().empty() && frm_o->getCaptureList().empty()) if (frm_o->getConstrainedByList().empty() && frm_o->getCaptureList().empty())
frm_o->remove(); frm_o->remove();
} }
// }
// break;
// case CTR_FEATURE:
// {
// if (feature_other_ptr_ != nullptr)
// {
FeatureBasePtr ftr_o = feature_other_ptr_.lock(); FeatureBasePtr ftr_o = feature_other_ptr_.lock();
if (ftr_o) if (ftr_o)
{ {
...@@ -143,12 +76,7 @@ void ConstraintBase::remove() ...@@ -143,12 +76,7 @@ void ConstraintBase::remove()
if (ftr_o->getConstrainedByList().empty() && ftr_o->getConstraintList().empty()) if (ftr_o->getConstrainedByList().empty() && ftr_o->getConstraintList().empty())
ftr_o->remove(); ftr_o->remove();
} }
// break;
// }
// case CTR_LANDMARK:
// {
// if (landmark_other_ptr_ != nullptr)
// {
LandmarkBasePtr lmk_o = landmark_other_ptr_.lock(); LandmarkBasePtr lmk_o = landmark_other_ptr_.lock();
if (lmk_o) if (lmk_o)
{ {
...@@ -156,13 +84,7 @@ void ConstraintBase::remove() ...@@ -156,13 +84,7 @@ void ConstraintBase::remove()
if (lmk_o->getConstrainedByList().empty()) if (lmk_o->getConstrainedByList().empty())
lmk_o->remove(); lmk_o->remove();
} }
// break;
// }
// case CTR_ABSOLUTE:
// break;
// default:
// break;
// }
// std::cout << "Removed c" << id() << std::endl; // std::cout << "Removed c" << id() << std::endl;
} }
} }
......
src/constraint_base.h
+ 4
− 21
View file @ fed72834
...@@ -26,7 +26,6 @@ class ConstraintBase : public NodeBase, public std::enable_shared_from_this<Cons ...@@ -26,7 +26,6 @@ class ConstraintBase : public NodeBase, public std::enable_shared_from_this<Cons
protected: protected:
unsigned int constraint_id_; unsigned int constraint_id_;
ConstraintType type_id_; ///< type of constraint (types defined at wolf.h) ConstraintType type_id_; ///< type of constraint (types defined at wolf.h)
ConstraintCategory category_; ///< category of constraint (types defined at wolf.h)
ConstraintStatus status_; ///< status of constraint (types defined at wolf.h) ConstraintStatus status_; ///< status of constraint (types defined at wolf.h)
bool apply_loss_function_; ///< flag for applying loss function to this constraint bool apply_loss_function_; ///< flag for applying loss function to this constraint
FrameBaseWPtr frame_other_ptr_; ///< FrameBase pointer (for category CTR_FRAME) FrameBaseWPtr frame_other_ptr_; ///< FrameBase pointer (for category CTR_FRAME)
...@@ -43,18 +42,6 @@ class ConstraintBase : public NodeBase, public std::enable_shared_from_this<Cons ...@@ -43,18 +42,6 @@ class ConstraintBase : public NodeBase, public std::enable_shared_from_this<Cons
**/ **/
ConstraintBase(ConstraintType _tp, FrameBasePtr _frame_other_ptr, FeatureBasePtr _feature_other_ptr, LandmarkBasePtr _landmark_other_ptr, bool _apply_loss_function, ConstraintStatus _status); ConstraintBase(ConstraintType _tp, FrameBasePtr _frame_other_ptr, FeatureBasePtr _feature_other_ptr, LandmarkBasePtr _landmark_other_ptr, bool _apply_loss_function, ConstraintStatus _status);
// /** \brief Constructor of category CTR_FRAME
// **/
// ConstraintBase(ConstraintType _tp, FrameBasePtr _frame_other_ptr, bool _apply_loss_function, ConstraintStatus _status);
//
// /** \brief Constructor of category CTR_FEATURE
// **/
// ConstraintBase(ConstraintType _tp, FeatureBasePtr _feature_other_ptr, bool _apply_loss_function, ConstraintStatus _status);
//
// /** \brief Constructor of category CTR_LANDMARK
// **/
// ConstraintBase(ConstraintType _tp, LandmarkBasePtr _landmark_other_ptr, bool _apply_loss_function, ConstraintStatus _status);
virtual ~ConstraintBase(); virtual ~ConstraintBase();
void remove(); void remove();
...@@ -101,10 +88,6 @@ class ConstraintBase : public NodeBase, public std::enable_shared_from_this<Cons ...@@ -101,10 +88,6 @@ class ConstraintBase : public NodeBase, public std::enable_shared_from_this<Cons
**/ **/
virtual unsigned int getSize() const = 0; virtual unsigned int getSize() const = 0;
/** \brief Gets the category
*/
ConstraintCategory getCategory() const;
/** \brief Gets the status /** \brief Gets the status
*/ */
ConstraintStatus getStatus() const; ConstraintStatus getStatus() const;
...@@ -183,10 +166,10 @@ inline FeatureBasePtr ConstraintBase::getFeaturePtr() const ...@@ -183,10 +166,10 @@ inline FeatureBasePtr ConstraintBase::getFeaturePtr() const
return feature_ptr_.lock(); return feature_ptr_.lock();
} }
inline ConstraintCategory ConstraintBase::getCategory() const //inline ConstraintCategory ConstraintBase::getCategory() const
{ //{
return category_; // return category_;
} //}
inline ConstraintStatus ConstraintBase::getStatus() const inline ConstraintStatus ConstraintBase::getStatus() const
{ {
......
src/problem.cpp
+ 47
− 50
View file @ fed72834
...@@ -674,7 +674,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks) ...@@ -674,7 +674,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
for (auto c : f->getConstraintList()) for (auto c : f->getConstraintList())
{ {
cout << " c" << c->id() << " -->"; cout << " c" << c->id() << " -->";
if (c->getCategory() == CTR_ABSOLUTE) if (c->getFrameOtherPtr() != nullptr && c->getFeatureOtherPtr() != nullptr && c->getLandmarkOtherPtr() != nullptr)
cout << " A"; cout << " A";
if (c->getFrameOtherPtr() != nullptr) if (c->getFrameOtherPtr() != nullptr)
cout << " F" << c->getFrameOtherPtr()->id(); cout << " F" << c->getFrameOtherPtr()->id();
...@@ -806,69 +806,66 @@ bool Problem::check(int verbose_level) ...@@ -806,69 +806,66 @@ bool Problem::check(int verbose_level)
{ {
if (verbose_level > 0) if (verbose_level > 0)
std::cout << " c" << c->id() << " @" << C.get(); std::cout << " c" << c->id() << " @" << C.get();
switch (c->getCategory()) if ( !(c->getFrameOtherPtr()) && !(c->getFeatureOtherPtr()) && !(c->getLandmarkOtherPtr()) ) // case ABSOLUTE:
{ {
case CTR_ABSOLUTE: if (verbose_level > 0)
if (verbose_level > 0) std::cout << " --> A" << std::endl;
std::cout << " --> A" << std::endl; }
break;
case CTR_FRAME: if (!(c->getFrameOtherPtr()) ) // case FRAME:
{
auto Fo = c->getFrameOtherPtr();
if (verbose_level > 0)
std::cout << " --> F" << Fo->id() << " <- ";
bool found = false;
for (auto cby : Fo->getConstrainedByList())
{ {
auto Fo = c->getFrameOtherPtr();
if (verbose_level > 0)
std::cout << " --> F" << Fo->id() << " <- ";
bool found = false;
for (auto cby : Fo->getConstrainedByList())
{
if (verbose_level > 0)
std::cout << " c" << cby->id();
found = found || (c == cby);
}
if (verbose_level > 0) if (verbose_level > 0)
std::cout << std::endl; std::cout << " c" << cby->id();
is_consistent = is_consistent && found; found = found || (c == cby);
break;
} }
case CTR_FEATURE: if (verbose_level > 0)
std::cout << std::endl;
is_consistent = is_consistent && found;
}
if ( !(c->getFeatureOtherPtr()) ) // case FEATURE:
{
auto fo = c->getFeatureOtherPtr();
if (verbose_level > 0)
std::cout << " --> f" << fo->id() << " <- ";
bool found = false;
for (auto cby : fo->getConstrainedByList())
{ {
auto fo = c->getFeatureOtherPtr();
if (verbose_level > 0) if (verbose_level > 0)
std::cout << " --> f" << fo->id() << " <- "; std::cout << " c" << cby->id();
bool found = false; found = found || (c == cby);
for (auto cby : fo->getConstrainedByList())
{
if (verbose_level > 0)
std::cout << " c" << cby->id();
found = found || (c == cby);
}
if (verbose_level > 0)
std::cout << std::endl;
is_consistent = is_consistent && found;
break;
} }
case CTR_LANDMARK: if (verbose_level > 0)
std::cout << std::endl;
is_consistent = is_consistent && found;
}
if ( !(c->getLandmarkOtherPtr()) ) // case LANDMARK:
{
auto Lo = c->getLandmarkOtherPtr();
if (verbose_level > 0)
std::cout << " --> L" << Lo->id() << " <- ";
bool found = false;
for (auto cby : Lo->getConstrainedByList())
{ {
auto Lo = c->getLandmarkOtherPtr();
if (verbose_level > 0)
std::cout << " --> L" << Lo->id() << " <- ";
bool found = false;
for (auto cby : Lo->getConstrainedByList())
{
if (verbose_level > 0)
std::cout << " c" << cby->id();
found = found || (c == cby);
}
if (verbose_level > 0) if (verbose_level > 0)
std::cout << std::endl; std::cout << " c" << cby->id();
is_consistent = is_consistent && found; found = found || (c == cby);
break;
} }
if (verbose_level > 0)
std::cout << std::endl;
is_consistent = is_consistent && found;
} }
if (verbose_level > 0) if (verbose_level > 0)
{ {
std::cout << " -> P @ " << c->getProblem().get() << std::endl; std::cout << " -> P @ " << c->getProblem().get() << std::endl;
std::cout << " -> f" << c->getFeaturePtr()->id() << " @ " << c->getFeaturePtr().get() std::cout << " -> f" << c->getFeaturePtr()->id() << " @ " << c->getFeaturePtr().get() << std::endl;
<< std::endl;
} }
is_consistent = is_consistent && (c->getProblem().get() == P_raw); is_consistent = is_consistent && (c->getProblem().get() == P_raw);
is_consistent = is_consistent && (c->getFeaturePtr() == f); is_consistent = is_consistent && (c->getFeaturePtr() == f);
......
src/wolf.h
+ 0
− 12
View file @ fed72834
...@@ -150,18 +150,6 @@ typedef enum ...@@ -150,18 +150,6 @@ typedef enum
} ConstraintType; } ConstraintType;
/** \brief Enumeration of constraint categories
*
* You may add items to this list as needed. Be concise with names, and document your entries.
*/
typedef enum
{
CTR_ABSOLUTE = 1, ///< Constraint established with absolute reference.
CTR_FRAME, ///< Constraint established with a frame (odometry).
CTR_FEATURE, ///< Constraint established with a feature (correspondence).
CTR_LANDMARK ///< Constraint established with a landmark (correpondence).
} ConstraintCategory;
/** \brief Enumeration of constraint status /** \brief Enumeration of constraint status
* *
* You may add items to this list as needed. Be concise with names, and document your entries. * You may add items to this list as needed. Be concise with names, and document your entries.
......
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