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Renamed function arguments to be more clear

release/4.3a0
Richard Roberts 2011-11-05 21:17:32 +00:00
parent 59ead6bb1b
commit 6414c78065
2 changed files with 24 additions and 24 deletions
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22
gtsam.h
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@ -157,18 +157,18 @@ class PlanarSLAMGraph {
void print(string s) const; void print(string s) const;
double error(const PlanarSLAMValues& c) const; double error(const PlanarSLAMValues& values) const;
Ordering* orderingCOLAMD(const PlanarSLAMValues& config) const; Ordering* orderingCOLAMD(const PlanarSLAMValues& values) const;
GaussianFactorGraph* linearize(const PlanarSLAMValues& config, GaussianFactorGraph* linearize(const PlanarSLAMValues& values,
const Ordering& ordering) const; const Ordering& ordering) const;
void addPrior(int i, const Pose2& p, const SharedNoiseModel& model); void addPrior(int key, const Pose2& pose, const SharedNoiseModel& noiseModel);
void addPoseConstraint(int i, const Pose2& p); void addPoseConstraint(int key, const Pose2& pose);
void addOdometry(int i, int j, const Pose2& z, const SharedNoiseModel& model); void addOdometry(int key1, int key2, const Pose2& odometry, const SharedNoiseModel& noiseModel);
void addBearing(int i, int j, const Rot2& z, const SharedNoiseModel& model); void addBearing(int poseKey, int pointKey, const Rot2& bearing, const SharedNoiseModel& noiseModel);
void addRange(int i, int j, double z, const SharedNoiseModel& model); void addRange(int poseKey, int pointKey, double range, const SharedNoiseModel& noiseModel);
void addBearingRange(int i, int j, const Rot2& z1, double z2, void addBearingRange(int poseKey, int pointKey, const Rot2& bearing, double range,
const SharedNoiseModel& model); const SharedNoiseModel& noiseModel);
PlanarSLAMValues* optimize_(const PlanarSLAMValues& initialEstimate); PlanarSLAMValues* optimize_(const PlanarSLAMValues& initialEstimate);
}; };
@ -176,5 +176,5 @@ class PlanarSLAMOdometry {
PlanarSLAMOdometry(int key1, int key2, const Pose2& measured, PlanarSLAMOdometry(int key1, int key2, const Pose2& measured,
const SharedNoiseModel& model); const SharedNoiseModel& model);
void print(string s) const; void print(string s) const;
GaussianFactor* linearize(const PlanarSLAMValues& c, const Ordering& ordering) const; GaussianFactor* linearize(const PlanarSLAMValues& center, const Ordering& ordering) const;
}; };

26
gtsam/slam/planarSLAM.h
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@ -109,27 +109,27 @@ namespace gtsam {
/// Creates a NonlinearFactorGraph based on another NonlinearFactorGraph /// Creates a NonlinearFactorGraph based on another NonlinearFactorGraph
Graph(const NonlinearFactorGraph<Values>& graph); Graph(const NonlinearFactorGraph<Values>& graph);
/// Biases the value of PoseKey i with Pose2 p given a noise model /// Biases the value of PoseKey key with Pose2 p given a noise model
void addPrior(const PoseKey& i, const Pose2& p, const SharedNoiseModel& model); void addPrior(const PoseKey& key, const Pose2& pose, const SharedNoiseModel& noiseModel);
/// Creates a hard constraint to enforce Pose2 p for PoseKey i's value /// Creates a hard constraint to enforce Pose2 p for PoseKey poseKey's value
void addPoseConstraint(const PoseKey& i, const Pose2& p); void addPoseConstraint(const PoseKey& poseKey, const Pose2& pose);
/// Creates a factor with a Pose2 between PoseKeys i and j (i.e. an odometry measurement) /// Creates a factor with a Pose2 between PoseKeys poseKey and pointKey (poseKey.e. an odometry measurement)
void addOdometry(const PoseKey& i, const PoseKey& j, const Pose2& z, void addOdometry(const PoseKey& poseKey, const PoseKey& pointKey, const Pose2& odometry,
const SharedNoiseModel& model); const SharedNoiseModel& model);
/// Creates a factor with a Rot2 between a PoseKey i and PointKey j for difference in rotation /// Creates a factor with a Rot2 between a PoseKey poseKey and PointKey pointKey for difference in rotation
void addBearing(const PoseKey& i, const PointKey& j, const Rot2& z, void addBearing(const PoseKey& poseKey, const PointKey& pointKey, const Rot2& bearing,
const SharedNoiseModel& model); const SharedNoiseModel& model);
/// Creates a factor with a Rot2 between a PoseKey i and PointKey j for difference in location /// Creates a factor with a Rot2 between a PoseKey poseKey and PointKey pointKey for difference in location
void addRange(const PoseKey& i, const PointKey& j, double z, void addRange(const PoseKey& poseKey, const PointKey& pointKey, double range,
const SharedNoiseModel& model); const SharedNoiseModel& model);
/// Creates a factor with a Rot2 between a PoseKey i and PointKey j for difference in rotation and location /// Creates a factor with a Rot2 between a PoseKey poseKey and PointKey pointKey for difference in rotation and location
void addBearingRange(const PoseKey& i, const PointKey& j, void addBearingRange(const PoseKey& poseKey, const PointKey& pointKey,
const Rot2& z1, double z2, const SharedNoiseModel& model); const Rot2& bearing, double range, const SharedNoiseModel& model);
/// Optimize_ for MATLAB /// Optimize_ for MATLAB
boost::shared_ptr<Values> optimize_(const Values& initialEstimate) { boost::shared_ptr<Values> optimize_(const Values& initialEstimate) {