50 lines
970 B
C
50 lines
970 B
C
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/*
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* Simulated2DConfig.h
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*
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* Re-created on Feb 22, 2010 for compatibility with MATLAB
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* Author: Frank Dellaert
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*/
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#pragma once
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#include "simulated2DOriented.h"
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namespace gtsam {
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class Simulated2DOrientedConfig: public simulated2DOriented::Config {
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public:
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typedef boost::shared_ptr<Point2> sharedPoint;
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typedef boost::shared_ptr<Pose2> sharedPose;
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Simulated2DOrientedConfig() {
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}
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void insertPose(const simulated2DOriented::PoseKey& i, const Pose2& p) {
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insert(i, p);
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}
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void insertPoint(const simulated2DOriented::PointKey& j, const Point2& p) {
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insert(j, p);
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}
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int nrPoses() const {
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return this->first_.size();
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}
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int nrPoints() const {
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return this->second_.size();
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}
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sharedPose pose(const simulated2DOriented::PoseKey& i) {
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return sharedPose(new Pose2((*this)[i]));
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}
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sharedPoint point(const simulated2DOriented::PointKey& j) {
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return sharedPoint(new Point2((*this)[j]));
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}
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};
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} // namespace gtsam
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