From 790e3d515c16fcc7d45d28961278862b0cd93e16 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 6 Oct 2023 12:34:49 -0400 Subject: [PATCH 01/13] add templated at methods for FactorGraph so it can perform typecasting for us --- .../tests/testHybridGaussianFactorGraph.cpp | 6 +++--- gtsam/inference/FactorGraph.h | 15 +++++++++++++++ gtsam/linear/tests/testGaussianFactorGraph.cpp | 3 +-- gtsam/nonlinear/GncOptimizer.h | 15 ++++++--------- gtsam/sfm/tests/testShonanAveraging.cpp | 8 +++++--- gtsam/slam/tests/testDataset.cpp | 13 +++++-------- gtsam_unstable/discrete/tests/testLoopyBelief.cpp | 7 ++----- .../nonlinear/tests/testNonlinearClusterTree.cpp | 2 +- tests/testNonlinearFactor.cpp | 2 +- 9 files changed, 39 insertions(+), 32 deletions(-) diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp index df38c171e4..b240e16265 100644 --- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp +++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp @@ -42,8 +42,8 @@ #include #include #include -#include #include +#include #include "Switching.h" #include "TinyHybridExample.h" @@ -613,11 +613,11 @@ TEST(HybridGaussianFactorGraph, assembleGraphTree) { // Create expected decision tree with two factor graphs: // Get mixture factor: - auto mixture = std::dynamic_pointer_cast(fg.at(0)); + auto mixture = fg.at(0); CHECK(mixture); // Get prior factor: - const auto gf = std::dynamic_pointer_cast(fg.at(1)); + const auto gf = fg.at(1); CHECK(gf); using GF = GaussianFactor::shared_ptr; const GF prior = gf->asGaussian(); diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 327fca49a6..b6046d0bb4 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -310,6 +310,21 @@ class FactorGraph { */ sharedFactor& at(size_t i) { return factors_.at(i); } + /** Get a specific factor by index and typecast to factor type F + * (this checks array bounds and may throw + * an exception, as opposed to operator[] which does not). + */ + template + std::shared_ptr at(size_t i) { + return std::dynamic_pointer_cast(factors_.at(i)); + } + + /// Const version of templated `at` method. + template + const std::shared_ptr at(size_t i) const { + return std::dynamic_pointer_cast(factors_.at(i)); + } + /** Get a specific factor by index (this does not check array bounds, as * opposed to at() which does). */ diff --git a/gtsam/linear/tests/testGaussianFactorGraph.cpp b/gtsam/linear/tests/testGaussianFactorGraph.cpp index 2ba00abc1d..03222bb3f4 100644 --- a/gtsam/linear/tests/testGaussianFactorGraph.cpp +++ b/gtsam/linear/tests/testGaussianFactorGraph.cpp @@ -391,8 +391,7 @@ TEST(GaussianFactorGraph, clone) { EXPECT(assert_equal(init_graph, actCloned)); // Same as the original version // Apply an in-place change to init_graph and compare - JacobianFactor::shared_ptr jacFactor0 = - std::dynamic_pointer_cast(init_graph.at(0)); + JacobianFactor::shared_ptr jacFactor0 = init_graph.at(0); CHECK(jacFactor0); jacFactor0->getA(jacFactor0->begin()) *= 7.; EXPECT(assert_inequal(init_graph, exp_graph)); diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h index d59eb43718..b646d009ee 100644 --- a/gtsam/nonlinear/GncOptimizer.h +++ b/gtsam/nonlinear/GncOptimizer.h @@ -65,10 +65,9 @@ class GncOptimizer { nfg_.resize(graph.size()); for (size_t i = 0; i < graph.size(); i++) { if (graph[i]) { - NoiseModelFactor::shared_ptr factor = std::dynamic_pointer_cast< - NoiseModelFactor>(graph[i]); - auto robust = std::dynamic_pointer_cast< - noiseModel::Robust>(factor->noiseModel()); + NoiseModelFactor::shared_ptr factor = graph.at(i); + auto robust = + std::dynamic_pointer_cast(factor->noiseModel()); // if the factor has a robust loss, we remove the robust loss nfg_[i] = robust ? factor-> cloneWithNewNoiseModel(robust->noise()) : factor; } @@ -401,11 +400,9 @@ class GncOptimizer { newGraph.resize(nfg_.size()); for (size_t i = 0; i < nfg_.size(); i++) { if (nfg_[i]) { - auto factor = std::dynamic_pointer_cast< - NoiseModelFactor>(nfg_[i]); - auto noiseModel = - std::dynamic_pointer_cast( - factor->noiseModel()); + auto factor = nfg_.at(i); + auto noiseModel = std::dynamic_pointer_cast( + factor->noiseModel()); if (noiseModel) { Matrix newInfo = weights[i] * noiseModel->information(); auto newNoiseModel = noiseModel::Gaussian::Information(newInfo); diff --git a/gtsam/sfm/tests/testShonanAveraging.cpp b/gtsam/sfm/tests/testShonanAveraging.cpp index dd4759daa4..dfa725ab6d 100644 --- a/gtsam/sfm/tests/testShonanAveraging.cpp +++ b/gtsam/sfm/tests/testShonanAveraging.cpp @@ -372,9 +372,11 @@ TEST(ShonanAveraging2, noisyToyGraphWithHuber) { // test that each factor is actually robust for (size_t i=0; i<=4; i++) { // note: last is the Gauge factor and is not robust - const auto &robust = std::dynamic_pointer_cast( - std::dynamic_pointer_cast(graph[i])->noiseModel()); - EXPECT(robust); // we expect the factors to be use a robust noise model (in particular, Huber) + const auto &robust = std::dynamic_pointer_cast( + graph.at(i)->noiseModel()); + // we expect the factors to be use a robust noise model + // (in particular, Huber) + EXPECT(robust); } // test result diff --git a/gtsam/slam/tests/testDataset.cpp b/gtsam/slam/tests/testDataset.cpp index 8591a39323..13104174f8 100644 --- a/gtsam/slam/tests/testDataset.cpp +++ b/gtsam/slam/tests/testDataset.cpp @@ -97,8 +97,7 @@ TEST(dataSet, load2D) { auto model = noiseModel::Unit::Create(3); BetweenFactor expected(1, 0, Pose2(-0.99879, 0.0417574, -0.00818381), model); - BetweenFactor::shared_ptr actual = - std::dynamic_pointer_cast>(graph->at(0)); + BetweenFactor::shared_ptr actual = graph->at>(0); EXPECT(assert_equal(expected, *actual)); // Check binary measurements, Pose2 @@ -113,9 +112,8 @@ TEST(dataSet, load2D) { // // Check factor parsing const auto actualFactors = parseFactors(filename); for (size_t i : {0, 1, 2, 3, 4, 5}) { - EXPECT(assert_equal( - *std::dynamic_pointer_cast>(graph->at(i)), - *actualFactors[i], 1e-5)); + EXPECT(assert_equal(*graph->at>(i), *actualFactors[i], + 1e-5)); } // Check pose parsing @@ -194,9 +192,8 @@ TEST(dataSet, readG2o3D) { // Check factor parsing const auto actualFactors = parseFactors(g2oFile); for (size_t i : {0, 1, 2, 3, 4, 5}) { - EXPECT(assert_equal( - *std::dynamic_pointer_cast>(expectedGraph[i]), - *actualFactors[i], 1e-5)); + EXPECT(assert_equal(*expectedGraph.at>(i), + *actualFactors[i], 1e-5)); } // Check pose parsing diff --git a/gtsam_unstable/discrete/tests/testLoopyBelief.cpp b/gtsam_unstable/discrete/tests/testLoopyBelief.cpp index 7c769fd784..39d9d743be 100644 --- a/gtsam_unstable/discrete/tests/testLoopyBelief.cpp +++ b/gtsam_unstable/discrete/tests/testLoopyBelief.cpp @@ -183,13 +183,10 @@ class LoopyBelief { // accumulate unary factors if (graph.at(factorIndex)->size() == 1) { if (!prodOfUnaries) - prodOfUnaries = std::dynamic_pointer_cast( - graph.at(factorIndex)); + prodOfUnaries = graph.at(factorIndex); else prodOfUnaries = std::make_shared( - *prodOfUnaries * - (*std::dynamic_pointer_cast( - graph.at(factorIndex)))); + *prodOfUnaries * (*graph.at(factorIndex))); } } diff --git a/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp b/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp index 38cfd73489..bbb461abb7 100644 --- a/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp +++ b/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp @@ -87,7 +87,7 @@ TEST(NonlinearClusterTree, Clusters) { Ordering ordering; ordering.push_back(x1); const auto [bn, fg] = gfg->eliminatePartialSequential(ordering); - auto expectedFactor = std::dynamic_pointer_cast(fg->at(0)); + auto expectedFactor = fg->at(0); if (!expectedFactor) throw std::runtime_error("Expected HessianFactor"); diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp index 06ae3366c1..cca78b80ea 100644 --- a/tests/testNonlinearFactor.cpp +++ b/tests/testNonlinearFactor.cpp @@ -323,7 +323,7 @@ TEST( NonlinearFactor, cloneWithNewNoiseModel ) // create actual NonlinearFactorGraph actual; SharedNoiseModel noise2 = noiseModel::Isotropic::Sigma(2,sigma2); - actual.push_back( std::dynamic_pointer_cast(nfg[0])->cloneWithNewNoiseModel(noise2) ); + actual.push_back(nfg.at(0)->cloneWithNewNoiseModel(noise2)); // check it's all good CHECK(assert_equal(expected, actual)); From 8f61d0b2edab0f65fa1c7fc21f4a4a44322bc82a Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 8 Oct 2023 11:23:54 -0400 Subject: [PATCH 02/13] mark private options as advanced and move GTSAM specific options to HandleGeneralOptions.cmake --- cmake/GtsamBuildTypes.cmake | 18 ++++++++++++++---- cmake/GtsamTesting.cmake | 16 ++++------------ cmake/HandleGeneralOptions.cmake | 21 +++++++++++++++++++++ 3 files changed, 39 insertions(+), 16 deletions(-) diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake index b24be5f08c..2aad58abb8 100644 --- a/cmake/GtsamBuildTypes.cmake +++ b/cmake/GtsamBuildTypes.cmake @@ -55,9 +55,6 @@ if(NOT CMAKE_BUILD_TYPE AND NOT MSVC AND NOT XCODE_VERSION) "Choose the type of build, options are: None Debug Release Timing Profiling RelWithDebInfo." FORCE) endif() -# Add option for using build type postfixes to allow installing multiple build modes -option(GTSAM_BUILD_TYPE_POSTFIXES "Enable/Disable appending the build type to the name of compiled libraries" ON) - # Define all cache variables, to be populated below depending on the OS/compiler: set(GTSAM_COMPILE_OPTIONS_PRIVATE "" CACHE INTERNAL "(Do not edit) Private compiler flags for all build configurations." FORCE) set(GTSAM_COMPILE_OPTIONS_PUBLIC "" CACHE INTERNAL "(Do not edit) Public compiler flags (exported to user projects) for all build configurations." FORCE) @@ -82,6 +79,13 @@ set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELWITHDEBINFO "NDEBUG" CACHE STRING "(Us set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELEASE "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Release configuration.") set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_PROFILING "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Profiling configuration.") set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_TIMING "NDEBUG;ENABLE_TIMING" CACHE STRING "(User editable) Private preprocessor macros for Timing configuration.") + +mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_DEBUG) +mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELWITHDEBINFO) +mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELEASE) +mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_PROFILING) +mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_TIMING) + if(MSVC) # Common to all configurations: list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE @@ -143,6 +147,13 @@ else() set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING -g -O3 CACHE STRING "(User editable) Private compiler flags for Timing configuration.") endif() +mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON) +mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG) +mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO) +mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE) +mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING) +mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING) + # Enable C++17: if (NOT CMAKE_VERSION VERSION_LESS 3.8) set(GTSAM_COMPILE_FEATURES_PUBLIC "cxx_std_17" CACHE STRING "CMake compile features property for all gtsam targets.") @@ -198,7 +209,6 @@ if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang") endif() if (NOT MSVC) - option(GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" OFF) if(GTSAM_BUILD_WITH_MARCH_NATIVE) # Check if Apple OS and compiler is [Apple]Clang if(APPLE AND (${CMAKE_CXX_COMPILER_ID} MATCHES "^(Apple)?Clang$")) diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake index 573fb696ac..cea83a1dce 100644 --- a/cmake/GtsamTesting.cmake +++ b/cmake/GtsamTesting.cmake @@ -52,6 +52,10 @@ endmacro() # an empty string "" if nothing needs to be excluded. # linkLibraries: The list of libraries to link to. macro(gtsamAddExamplesGlob globPatterns excludedFiles linkLibraries) + if(NOT DEFINED GTSAM_BUILD_EXAMPLES_ALWAYS) + set(GTSAM_BUILD_EXAMPLES_ALWAYS OFF) + endif() + gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "examples" ${GTSAM_BUILD_EXAMPLES_ALWAYS}) endmacro() @@ -86,18 +90,6 @@ endmacro() # Build macros for using tests enable_testing() -option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) -option(GTSAM_BUILD_EXAMPLES_ALWAYS "Build examples with 'make all' (build with 'make examples' if not)" ON) -option(GTSAM_BUILD_TIMING_ALWAYS "Build timing scripts with 'make all' (build with 'make timing' if not" OFF) - -# Add option for combining unit tests -if(MSVC OR XCODE_VERSION) - option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON) -else() - option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF) -endif() -mark_as_advanced(GTSAM_SINGLE_TEST_EXE) - # Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck) if(GTSAM_BUILD_TESTS) add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} -C $ --output-on-failure) diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake index 13000a5b07..47a3a597da 100644 --- a/cmake/HandleGeneralOptions.cmake +++ b/cmake/HandleGeneralOptions.cmake @@ -8,6 +8,27 @@ else() set(GTSAM_UNSTABLE_AVAILABLE 0) endif() +### GtsamTesting related options +option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) +option(GTSAM_BUILD_EXAMPLES_ALWAYS "Build examples with 'make all' (build with 'make examples' if not)" ON) +option(GTSAM_BUILD_TIMING_ALWAYS "Build timing scripts with 'make all' (build with 'make timing' if not" OFF) + +# Add option for combining unit tests +if(MSVC OR XCODE_VERSION) + option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON) +else() + option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF) +endif() +mark_as_advanced(GTSAM_SINGLE_TEST_EXE) +### + +# Add option for using build type postfixes to allow installing multiple build modes +option(GTSAM_BUILD_TYPE_POSTFIXES "Enable/Disable appending the build type to the name of compiled libraries" ON) + +if (NOT MSVC) + option(GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" OFF) +endif() + # Configurable Options if(GTSAM_UNSTABLE_AVAILABLE) option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON) From f47006d187534f007eaa2622f173a3c56f66cf3d Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 8 Oct 2023 11:24:26 -0400 Subject: [PATCH 03/13] include cmake files after options have been handled --- CMakeLists.txt | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 309cc7c4ea..044f09e02d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -42,13 +42,6 @@ set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake" include(GtsamMakeConfigFile) include(GNUInstallDirs) -# Load build type flags and default to Debug mode -include(GtsamBuildTypes) - -# Use macros for creating tests/timing scripts -include(GtsamTesting) -include(GtsamPrinting) - # guard against in-source builds if(${GTSAM_SOURCE_DIR} STREQUAL ${GTSAM_BINARY_DIR}) message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ") @@ -56,6 +49,13 @@ endif() include(cmake/HandleGeneralOptions.cmake) # CMake build options +# Load build type flags and default to Debug mode +include(GtsamBuildTypes) + +# Use macros for creating tests/timing scripts +include(GtsamTesting) +include(GtsamPrinting) + ############### Decide on BOOST ###################################### # Enable or disable serialization with GTSAM_ENABLE_BOOST_SERIALIZATION option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON) From e4fff746900b8eff5a603eeaf5008d02bd70c4a1 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 8 Oct 2023 12:16:24 -0400 Subject: [PATCH 04/13] update gtsamAddExamplesGlob and gtsamAddTimingGlob to take an additional argument rather than using a global variable --- cmake/GtsamTesting.cmake | 16 +++++++--------- cmake/README.html | 5 +++-- cmake/README.md | 5 +++-- examples/CMakeLists.txt | 2 +- gtsam_unstable/discrete/examples/CMakeLists.txt | 2 +- gtsam_unstable/examples/CMakeLists.txt | 2 +- gtsam_unstable/timing/CMakeLists.txt | 2 +- timing/CMakeLists.txt | 2 +- 8 files changed, 18 insertions(+), 18 deletions(-) diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake index cea83a1dce..c604b18abb 100644 --- a/cmake/GtsamTesting.cmake +++ b/cmake/GtsamTesting.cmake @@ -42,7 +42,7 @@ endmacro() # GTSAM_BUILD_EXAMPLES_ALWAYS is enabled. They may also be built with 'make examples'. # # Usage example: -# gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib") +# gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib" ON) # # Arguments: # globPatterns: The list of files or glob patterns from which to create examples, with @@ -51,12 +51,9 @@ endmacro() # excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp". Pass # an empty string "" if nothing needs to be excluded. # linkLibraries: The list of libraries to link to. -macro(gtsamAddExamplesGlob globPatterns excludedFiles linkLibraries) - if(NOT DEFINED GTSAM_BUILD_EXAMPLES_ALWAYS) - set(GTSAM_BUILD_EXAMPLES_ALWAYS OFF) - endif() - - gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "examples" ${GTSAM_BUILD_EXAMPLES_ALWAYS}) +# buildWithAll: Build examples with `make` and/or `make all` +macro(gtsamAddExamplesGlob globPatterns excludedFiles linkLibraries buildWithAll) + gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "examples" ${buildWithAll}) endmacro() @@ -80,8 +77,9 @@ endmacro() # excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp". Pass # an empty string "" if nothing needs to be excluded. # linkLibraries: The list of libraries to link to. -macro(gtsamAddTimingGlob globPatterns excludedFiles linkLibraries) - gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "timing" ${GTSAM_BUILD_TIMING_ALWAYS}) +# buildWithAll: Build examples with `make` and/or `make all` +macro(gtsamAddTimingGlob globPatterns excludedFiles linkLibraries buildWithAll) + gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "timing" ${buildWithAll}) endmacro() diff --git a/cmake/README.html b/cmake/README.html index 8170cd4897..9cdb5c7584 100644 --- a/cmake/README.html +++ b/cmake/README.html @@ -47,9 +47,9 @@

GtsamTesting

  • -

    gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries) Add scripts that will serve as examples of how to use the library. A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file. These executables will not be installed. They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled. They may also be built with 'make examples'.

    +

    gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries buildWithAll) Add scripts that will serve as examples of how to use the library. A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file. These executables will not be installed. They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled. They may also be built with 'make examples'.

    Usage example:

    -
    gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib")
+
    gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib" ON)
 
    
 
    Arguments:
    
 
    globPatterns:  The list of files or glob patterns from which to create unit tests, with
@@ -58,6 +58,7 @@ 
    GtsamTesting
    
 excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp".  Pass
                an empty string "" if nothing needs to be excluded.
 linkLibraries: The list of libraries to link to.
+buildWithAll: Build examples with `make` and/or `make all`
    • diff --git a/cmake/README.md b/cmake/README.md index 569a401b17..4203b8d3c0 100644 --- a/cmake/README.md +++ b/cmake/README.md @@ -52,11 +52,11 @@ Defines two useful functions for creating CTest unit tests. Also immediately cr Pass an empty string "" if nothing needs to be excluded. linkLibraries: The list of libraries to link to in addition to CppUnitLite. -* `gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries)` Add scripts that will serve as examples of how to use the library. A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file. These executables will not be installed. They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled. They may also be built with 'make examples'. +* `gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries buildWithAll)` Add scripts that will serve as examples of how to use the library. A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file. These executables will not be installed. They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled. They may also be built with 'make examples'. Usage example: - gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib") + gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib" ON) Arguments: @@ -66,6 +66,7 @@ Defines two useful functions for creating CTest unit tests. Also immediately cr excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp". Pass an empty string "" if nothing needs to be excluded. linkLibraries: The list of libraries to link to. + buildWithAll: Build examples with `make` and/or `make all` ## GtsamMakeConfigFile diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 52d90deb96..280b82265e 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -20,4 +20,4 @@ if (NOT GTSAM_USE_BOOST_FEATURES) ) endif() -gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;${Boost_PROGRAM_OPTIONS_LIBRARY}") +gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;${Boost_PROGRAM_OPTIONS_LIBRARY}" ${GTSAM_BUILD_EXAMPLES_ALWAYS}) diff --git a/gtsam_unstable/discrete/examples/CMakeLists.txt b/gtsam_unstable/discrete/examples/CMakeLists.txt index ba4e278c9e..16e057cfed 100644 --- a/gtsam_unstable/discrete/examples/CMakeLists.txt +++ b/gtsam_unstable/discrete/examples/CMakeLists.txt @@ -12,4 +12,4 @@ endif() -gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable") +gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable" ${GTSAM_BUILD_EXAMPLES_ALWAYS}) diff --git a/gtsam_unstable/examples/CMakeLists.txt b/gtsam_unstable/examples/CMakeLists.txt index 967937b220..120f293e71 100644 --- a/gtsam_unstable/examples/CMakeLists.txt +++ b/gtsam_unstable/examples/CMakeLists.txt @@ -9,4 +9,4 @@ if (NOT GTSAM_USE_BOOST_FEATURES) endif() -gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable") +gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable" ${GTSAM_BUILD_EXAMPLES_ALWAYS}) diff --git a/gtsam_unstable/timing/CMakeLists.txt b/gtsam_unstable/timing/CMakeLists.txt index b5130ae927..44ea2f5af9 100644 --- a/gtsam_unstable/timing/CMakeLists.txt +++ b/gtsam_unstable/timing/CMakeLists.txt @@ -1 +1 @@ -gtsamAddTimingGlob("*.cpp" "" "gtsam_unstable") +gtsamAddTimingGlob("*.cpp" "" "gtsam_unstable" ${GTSAM_BUILD_TIMING_ALWAYS}) diff --git a/timing/CMakeLists.txt b/timing/CMakeLists.txt index e3f97ee0ca..f4fbae9408 100644 --- a/timing/CMakeLists.txt +++ b/timing/CMakeLists.txt @@ -14,6 +14,6 @@ if (NOT GTSAM_USE_BOOST_FEATURES) ) endif() -gtsamAddTimingGlob("*.cpp" "${excluded_scripts}" "gtsam") +gtsamAddTimingGlob("*.cpp" "${excluded_scripts}" "gtsam" ${GTSAM_BUILD_TIMING_ALWAYS}) target_link_libraries(timeGaussianFactorGraph CppUnitLite) From a30999f1de0a0cb52d1d314990b678365f8e1d33 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 8 Oct 2023 14:44:38 -0400 Subject: [PATCH 05/13] Move testing cmake flags back to GtsamTesting --- cmake/GtsamTesting.cmake | 12 ++++++++++++ cmake/HandleGeneralOptions.cmake | 9 --------- 2 files changed, 12 insertions(+), 9 deletions(-) diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake index c604b18abb..6fbe14ff30 100644 --- a/cmake/GtsamTesting.cmake +++ b/cmake/GtsamTesting.cmake @@ -88,6 +88,17 @@ endmacro() # Build macros for using tests enable_testing() +#TODO(Varun) Move to HandlePrintConfiguration.cmake. This will require additional changes. +option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) + +# Add option for combining unit tests +if(MSVC OR XCODE_VERSION) + option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON) +else() + option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF) +endif() +mark_as_advanced(GTSAM_SINGLE_TEST_EXE) + # Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck) if(GTSAM_BUILD_TESTS) add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} -C $ --output-on-failure) @@ -113,6 +124,7 @@ add_custom_target(timing) # Implementations of this file's macros: macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries) + #TODO(Varun) Building of tests should not depend on global gtsam flag if(GTSAM_BUILD_TESTS) # Add group target if it doesn't already exist if(NOT TARGET check.${groupName}) diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake index 47a3a597da..302bdf8603 100644 --- a/cmake/HandleGeneralOptions.cmake +++ b/cmake/HandleGeneralOptions.cmake @@ -9,17 +9,8 @@ else() endif() ### GtsamTesting related options -option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) option(GTSAM_BUILD_EXAMPLES_ALWAYS "Build examples with 'make all' (build with 'make examples' if not)" ON) option(GTSAM_BUILD_TIMING_ALWAYS "Build timing scripts with 'make all' (build with 'make timing' if not" OFF) - -# Add option for combining unit tests -if(MSVC OR XCODE_VERSION) - option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON) -else() - option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF) -endif() -mark_as_advanced(GTSAM_SINGLE_TEST_EXE) ### # Add option for using build type postfixes to allow installing multiple build modes From b6dbb0fe92dc4977d2fc135fb8bdffe83993fd24 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sun, 8 Oct 2023 15:02:01 -0400 Subject: [PATCH 06/13] remove extra spaces --- cmake/GtsamTesting.cmake | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake index 6fbe14ff30..47b059213e 100644 --- a/cmake/GtsamTesting.cmake +++ b/cmake/GtsamTesting.cmake @@ -91,12 +91,12 @@ enable_testing() #TODO(Varun) Move to HandlePrintConfiguration.cmake. This will require additional changes. option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) -# Add option for combining unit tests -if(MSVC OR XCODE_VERSION) - option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON) -else() - option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF) -endif() +# Add option for combining unit tests +if(MSVC OR XCODE_VERSION) + option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON) +else() + option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF) +endif() mark_as_advanced(GTSAM_SINGLE_TEST_EXE) # Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck) From d5d75274ecca38266cdd4c6cc2d92d3c1a37a310 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 10 Oct 2023 06:55:54 -0400 Subject: [PATCH 07/13] rearrange Values::insert to fix 1477 --- gtsam/nonlinear/values.i | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/values.i b/gtsam/nonlinear/values.i index e36b1cf1c5..64c0f447d5 100644 --- a/gtsam/nonlinear/values.i +++ b/gtsam/nonlinear/values.i @@ -66,8 +66,6 @@ class Values { // The order is important: Vector has to precede Point2/Point3 so `atVector` // can work for those fixed-size vectors. - void insert(size_t j, Vector vector); - void insert(size_t j, Matrix matrix); void insert(size_t j, const gtsam::Point2& point2); void insert(size_t j, const gtsam::Point3& point3); void insert(size_t j, const gtsam::Rot2& rot2); @@ -94,6 +92,10 @@ class Values { void insert(size_t j, const gtsam::PinholePose& camera); void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias); void insert(size_t j, const gtsam::NavState& nav_state); + // Vector and Matrix versions should go at the end + // to avoid collisions with Point2 and Point3 + void insert(size_t j, Vector vector); + void insert(size_t j, Matrix matrix); void insert(size_t j, double c); template @@ -125,6 +127,8 @@ class Values { void update(size_t j, const gtsam::PinholePose& camera); void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias); void update(size_t j, const gtsam::NavState& nav_state); + // Vector and Matrix versions should go at the end + // to avoid collisions with Point2 and Point3 void update(size_t j, Vector vector); void update(size_t j, Matrix matrix); void update(size_t j, double c); @@ -165,6 +169,8 @@ class Values { void insert_or_assign(size_t j, const gtsam::imuBias::ConstantBias& constant_bias); void insert_or_assign(size_t j, const gtsam::NavState& nav_state); + // Vector and Matrix versions should go at the end + // to avoid collisions with Point2 and Point3 void insert_or_assign(size_t j, Vector vector); void insert_or_assign(size_t j, Matrix matrix); void insert_or_assign(size_t j, double c); From 87e28ea698b8a20675acc993fc33703e7a2df5ad Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 10 Oct 2023 06:56:17 -0400 Subject: [PATCH 08/13] wrap SmartProjectionPoseFactor::point() --- gtsam/slam/slam.i | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam/slam/slam.i b/gtsam/slam/slam.i index d35a87eeeb..7135137bba 100644 --- a/gtsam/slam/slam.i +++ b/gtsam/slam/slam.i @@ -156,6 +156,9 @@ virtual class SmartProjectionPoseFactor : gtsam::NonlinearFactor { // enabling serialization functionality void serialize() const; + + gtsam::TriangulationResult point() const; + gtsam::TriangulationResult point(const gtsam::Values& values) const; }; typedef gtsam::SmartProjectionPoseFactor From d16bba321f6bbb80204e27af03521b2de01c84a7 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 10 Oct 2023 07:42:25 -0400 Subject: [PATCH 09/13] correct method ordering as per documentation --- gtsam/nonlinear/values.i | 32 ++++++++++++++++---------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/gtsam/nonlinear/values.i b/gtsam/nonlinear/values.i index 64c0f447d5..1b0322699d 100644 --- a/gtsam/nonlinear/values.i +++ b/gtsam/nonlinear/values.i @@ -59,13 +59,17 @@ class Values { // enabling serialization functionality void serialize() const; - // New in 4.0, we have to specialize every insert/update/at to generate - // wrappers Instead of the old: void insert(size_t j, const gtsam::Value& - // value); void update(size_t j, const gtsam::Value& val); gtsam::Value - // at(size_t j) const; + // New in 4.0, we have to specialize every insert/update/at + // to generate wrappers. + // Instead of the old: + // void insert(size_t j, const gtsam::Value& value); + // void update(size_t j, const gtsam::Value& val); + // gtsam::Value at(size_t j) const; // The order is important: Vector has to precede Point2/Point3 so `atVector` // can work for those fixed-size vectors. + void insert(size_t j, Vector vector); + void insert(size_t j, Matrix matrix); void insert(size_t j, const gtsam::Point2& point2); void insert(size_t j, const gtsam::Point3& point3); void insert(size_t j, const gtsam::Rot2& rot2); @@ -92,15 +96,15 @@ class Values { void insert(size_t j, const gtsam::PinholePose& camera); void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias); void insert(size_t j, const gtsam::NavState& nav_state); - // Vector and Matrix versions should go at the end - // to avoid collisions with Point2 and Point3 - void insert(size_t j, Vector vector); - void insert(size_t j, Matrix matrix); void insert(size_t j, double c); template void insert(size_t j, const T& val); + // The order is important: Vector has to precede Point2/Point3 so `atVector` + // can work for those fixed-size vectors. + void update(size_t j, Vector vector); + void update(size_t j, Matrix matrix); void update(size_t j, const gtsam::Point2& point2); void update(size_t j, const gtsam::Point3& point3); void update(size_t j, const gtsam::Rot2& rot2); @@ -127,12 +131,12 @@ class Values { void update(size_t j, const gtsam::PinholePose& camera); void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias); void update(size_t j, const gtsam::NavState& nav_state); - // Vector and Matrix versions should go at the end - // to avoid collisions with Point2 and Point3 - void update(size_t j, Vector vector); - void update(size_t j, Matrix matrix); void update(size_t j, double c); + // The order is important: Vector has to precede Point2/Point3 so `atVector` + // can work for those fixed-size vectors. + void insert_or_assign(size_t j, Vector vector); + void insert_or_assign(size_t j, Matrix matrix); void insert_or_assign(size_t j, const gtsam::Point2& point2); void insert_or_assign(size_t j, const gtsam::Point3& point3); void insert_or_assign(size_t j, const gtsam::Rot2& rot2); @@ -169,10 +173,6 @@ class Values { void insert_or_assign(size_t j, const gtsam::imuBias::ConstantBias& constant_bias); void insert_or_assign(size_t j, const gtsam::NavState& nav_state); - // Vector and Matrix versions should go at the end - // to avoid collisions with Point2 and Point3 - void insert_or_assign(size_t j, Vector vector); - void insert_or_assign(size_t j, Matrix matrix); void insert_or_assign(size_t j, double c); template Date: Wed, 11 Oct 2023 14:21:59 -0400 Subject: [PATCH 10/13] make DefaultKeyFormatter an extern variable so it can be updated in downstream applications --- gtsam/inference/Key.cpp | 5 ++++- gtsam/inference/Key.h | 18 ++++++++++-------- 2 files changed, 14 insertions(+), 9 deletions(-) diff --git a/gtsam/inference/Key.cpp b/gtsam/inference/Key.cpp index 8fcea0d05a..b5196b73b2 100644 --- a/gtsam/inference/Key.cpp +++ b/gtsam/inference/Key.cpp @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file Key.h + * @file Key.cpp * @brief * @author Richard Roberts * @author Alex Cunningham @@ -26,6 +26,9 @@ using namespace std; namespace gtsam { +// KeyFormatter DefaultKeyFormatter = &_dynamicsKeyFormatter; +KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter; + /* ************************************************************************* */ string _defaultKeyFormatter(Key key) { const Symbol asSymbol(key); diff --git a/gtsam/inference/Key.h b/gtsam/inference/Key.h index 31428a50e7..defa472332 100644 --- a/gtsam/inference/Key.h +++ b/gtsam/inference/Key.h @@ -37,10 +37,16 @@ using KeyFormatter = std::function; // Helper function for DefaultKeyFormatter GTSAM_EXPORT std::string _defaultKeyFormatter(Key key); -/// The default KeyFormatter, which is used if no KeyFormatter is passed to -/// a nonlinear 'print' function. Automatically detects plain integer keys -/// and Symbol keys. -static const KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter; +/** + * The default KeyFormatter, which is used if no KeyFormatter is passed + * to a 'print' function. + * + * Automatically detects plain integer keys and Symbol keys. + * + * Marked as `extern` so that it can be updated by external libraries. + * + */ +extern KeyFormatter DefaultKeyFormatter; // Helper function for Multi-robot Key Formatter GTSAM_EXPORT std::string _multirobotKeyFormatter(gtsam::Key key); @@ -124,7 +130,3 @@ struct traits { }; } // namespace gtsam - - - - From ebf3672c8dc7166dd196e3391f6b43e87c332f60 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 11 Oct 2023 14:26:39 -0400 Subject: [PATCH 11/13] add comment --- gtsam/inference/Key.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/inference/Key.cpp b/gtsam/inference/Key.cpp index b5196b73b2..15d633eeb7 100644 --- a/gtsam/inference/Key.cpp +++ b/gtsam/inference/Key.cpp @@ -26,7 +26,7 @@ using namespace std; namespace gtsam { -// KeyFormatter DefaultKeyFormatter = &_dynamicsKeyFormatter; +/// Assign default key formatter KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter; /* ************************************************************************* */ From 3c5c500aa5cbf31e5442cc61d32daaedc8440716 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 11 Oct 2023 18:00:45 -0400 Subject: [PATCH 12/13] mark DefaultKeyFormatter with GTSAM_EXPORT --- gtsam/inference/Key.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/inference/Key.h b/gtsam/inference/Key.h index defa472332..a02d018f5b 100644 --- a/gtsam/inference/Key.h +++ b/gtsam/inference/Key.h @@ -46,7 +46,7 @@ GTSAM_EXPORT std::string _defaultKeyFormatter(Key key); * Marked as `extern` so that it can be updated by external libraries. * */ -extern KeyFormatter DefaultKeyFormatter; +extern GTSAM_EXPORT KeyFormatter DefaultKeyFormatter; // Helper function for Multi-robot Key Formatter GTSAM_EXPORT std::string _multirobotKeyFormatter(gtsam::Key key); From 95add4786a58b7bba9d1d5b4aee44f6d0c9b37cc Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 12 Oct 2023 08:57:38 -0400 Subject: [PATCH 13/13] overload JacobianFactor::getA method with one that takes a key --- gtsam/linear/JacobianFactor.h | 6 ++++++ gtsam/linear/tests/testJacobianFactor.cpp | 9 +++++++++ 2 files changed, 15 insertions(+) diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 375e826980..407ed1e277 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -312,6 +312,12 @@ namespace gtsam { /** Get a view of the A matrix */ ABlock getA() { return Ab_.range(0, size()); } + /** + * Get a view of the A matrix for the variable + * pointed to by the given key. + */ + ABlock getA(const Key& key) { return Ab_(find(key) - begin()); } + /** Update an information matrix by adding the information corresponding to this factor * (used internally during elimination). * @param scatter A mapping from variable index to slot index in this HessianFactor diff --git a/gtsam/linear/tests/testJacobianFactor.cpp b/gtsam/linear/tests/testJacobianFactor.cpp index 0ad77b3660..234466620b 100644 --- a/gtsam/linear/tests/testJacobianFactor.cpp +++ b/gtsam/linear/tests/testJacobianFactor.cpp @@ -65,7 +65,10 @@ TEST(JacobianFactor, constructors_and_accessors) JacobianFactor actual(terms[0].first, terms[0].second, b, noise); EXPECT(assert_equal(expected, actual)); LONGS_EQUAL((long)terms[0].first, (long)actual.keys().back()); + // Key iterator EXPECT(assert_equal(terms[0].second, actual.getA(actual.end() - 1))); + // Key + EXPECT(assert_equal(terms[0].second, actual.getA(terms[0].first))); EXPECT(assert_equal(b, expected.getb())); EXPECT(assert_equal(b, actual.getb())); EXPECT(noise == expected.get_model()); @@ -78,7 +81,10 @@ TEST(JacobianFactor, constructors_and_accessors) terms[1].first, terms[1].second, b, noise); EXPECT(assert_equal(expected, actual)); LONGS_EQUAL((long)terms[1].first, (long)actual.keys().back()); + // Key iterator EXPECT(assert_equal(terms[1].second, actual.getA(actual.end() - 1))); + // Key + EXPECT(assert_equal(terms[1].second, actual.getA(terms[1].first))); EXPECT(assert_equal(b, expected.getb())); EXPECT(assert_equal(b, actual.getb())); EXPECT(noise == expected.get_model()); @@ -91,7 +97,10 @@ TEST(JacobianFactor, constructors_and_accessors) terms[1].first, terms[1].second, terms[2].first, terms[2].second, b, noise); EXPECT(assert_equal(expected, actual)); LONGS_EQUAL((long)terms[2].first, (long)actual.keys().back()); + // Key iterator EXPECT(assert_equal(terms[2].second, actual.getA(actual.end() - 1))); + // Key + EXPECT(assert_equal(terms[2].second, actual.getA(terms[2].first))); EXPECT(assert_equal(b, expected.getb())); EXPECT(assert_equal(b, actual.getb())); EXPECT(noise == expected.get_model());