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Add rangeFactor typedefs

release/4.3a0
Frank Dellaert 2022-01-30 14:09:30 -05:00
parent 8e2f8a87eb
commit 605a443283
1 changed files with 10 additions and 1 deletions
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11
gtsam/sam/sam.i
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@ -22,10 +22,19 @@ virtual class RangeFactor : gtsam::NoiseModelFactor {
void serialize() const; void serialize() const;
}; };
// between points:
typedef gtsam::RangeFactor<gtsam::Point2, gtsam::Point2> RangeFactor2;
typedef gtsam::RangeFactor<gtsam::Point3, gtsam::Point3> RangeFactor3;
// between pose and point:
typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactor2D; typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactor2D;
typedef gtsam::RangeFactor<gtsam::Pose3, gtsam::Point3> RangeFactor3D;
typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Pose2> RangeFactorPose2; typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Pose2> RangeFactorPose2;
// between poses:
typedef gtsam::RangeFactor<gtsam::Pose3, gtsam::Point3> RangeFactor3D;
typedef gtsam::RangeFactor<gtsam::Pose3, gtsam::Pose3> RangeFactorPose3; typedef gtsam::RangeFactor<gtsam::Pose3, gtsam::Pose3> RangeFactorPose3;
// more specialized types:
typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::Point3> typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::Point3>
RangeFactorCalibratedCameraPoint; RangeFactorCalibratedCameraPoint;
typedef gtsam::RangeFactor<gtsam::PinholeCamera<gtsam::Cal3_S2>, gtsam::Point3> typedef gtsam::RangeFactor<gtsam::PinholeCamera<gtsam::Cal3_S2>, gtsam::Point3>