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Re-instaed deleted classes

release/4.3a0
Frank Dellaert 2011-10-22 19:42:02 +00:00
parent 5016ca4f25
commit 0cd8dedeb2
1 changed files with 50 additions and 1 deletions
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51
gtsam.h
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@ -59,8 +59,57 @@ class VectorValues {
size_t push_back_preallocated(Vector vector); size_t push_back_preallocated(Vector vector);
}; };
class GaussianConditional {
GaussianConditional(size_t key, Vector d, Matrix R, Vector sigmas);
GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
Vector sigmas);
GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
size_t name2, Matrix T, Vector sigmas);
void print(string s) const;
bool equals(const GaussianConditional &cg, double tol) const;
};
class GaussianBayesNet {
GaussianBayesNet();
void print(string s) const;
bool equals(const GaussianBayesNet& cbn, double tol) const;
void push_back(GaussianConditional* conditional);
void push_front(GaussianConditional* conditional);
};
class GaussianFactor {
void print(string s) const;
bool equals(const GaussianFactor& lf, double tol) const;
double error(const VectorValues& c) const;
};
class JacobianFactor {
JacobianFactor();
JacobianFactor(Vector b_in);
JacobianFactor(size_t i1, Matrix A1, Vector b, const SharedDiagonal& model);
JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b,
const SharedDiagonal& model);
JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3,
Matrix A3, Vector b, const SharedDiagonal& model);
void print(string s) const;
bool equals(const GaussianFactor& lf, double tol) const;
bool empty() const;
Vector getb() const;
double error(const VectorValues& c) const;
GaussianConditional* eliminateFirst();
};
class GaussianFactorGraph {
GaussianFactorGraph();
void print(string s) const;
bool equals(const GaussianFactorGraph& lfgraph, double tol) const;
size_t size() const;
void push_back(GaussianFactor* ptr_f);
double error(const VectorValues& c) const;
double probPrime(const VectorValues& c) const;
void combine(const GaussianFactorGraph& lfg);
};
class Landmark2 { class Landmark2 {
Landmark2(); Landmark2();
@ -96,6 +145,6 @@ class PlanarSLAMGraph {
void addRange(size_t i, size_t j, double z, const SharedNoiseModel& model); void addRange(size_t i, size_t j, double z, const SharedNoiseModel& model);
void addBearingRange(size_t i, size_t j, const Rot2& z1, double z2, void addBearingRange(size_t i, size_t j, const Rot2& z1, double z2,
const SharedNoiseModel& model); const SharedNoiseModel& model);
PlanarSLAMValues* optimize(const PlanarSLAMValues& initialEstimate); PlanarSLAMValues* optimize_(const PlanarSLAMValues& initialEstimate);
}; };