gtsam/cpp/Point2Prior.h

// Frank Dellaert
// Simulated2D Prior

#include "NonlinearFactor.h"
#include "simulated2D.h"

namespace gtsam {

	class Point2Prior: public NonlinearFactor1 {
	public:
		Point2Prior(const Vector& mu, double sigma, const std::string& key) :
			NonlinearFactor1(mu, sigma, prior, key, Dprior) {
		}
	};

} // namespace gtsam
Fixing directory structure 2009-08-22 06:23:24 +08:00			`// Frank Dellaert`
			`// Simulated2D Prior`

			`#include "NonlinearFactor.h"`
			`#include "simulated2D.h"`

			`namespace gtsam {`

2 BIG changes: (1) FactorGraph and NonlinearOptimizer now no longer have a .cpp file, but a -inl.h file as in [http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml Google's C++ Style Guide]. This means if you expect to instantiate one of the functions in a cpp file, you have to include the -inl.h file. (1) getOrdering is now in FactorGraph, and the non-linear version does not take a config anymore. Long version: I made this change because colamd works on the graph structure alone, and should not depend on the type of graph. Instead, because getOrdering happened to implemented in LinearFactorGraph first, the non-linear version converted to a linear factor graph (at the cost of an unnecessary linearization), and then threw all that away to call colamd. To implement this in a key-neutral way (a hidden agenda), i had to modify the keys_ type to a list, so a lot of changes resulted from that. 2009-09-13 12:13:03 +08:00			`class Point2Prior: public NonlinearFactor1 {`
			`public:`
			`Point2Prior(const Vector& mu, double sigma, const std::string& key) :`
			`NonlinearFactor1(mu, sigma, prior, key, Dprior) {`
			`}`
			`};`
Fixing directory structure 2009-08-22 06:23:24 +08:00
			`} // namespace gtsam`