12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added cref_list_of.

release/4.3a0
Vadim Indelman 2013-08-23 18:12:59 +00:00
parent e439a298b8
commit 6ab49e95da
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
View File

@ -79,7 +79,7 @@ namespace gtsam {
const gtsam::Values valA, const gtsam::Values valB, const gtsam::Values valA, const gtsam::Values valB,
const SharedGaussian& model_inlier, const SharedGaussian& model_outlier, const SharedGaussian& model_inlier, const SharedGaussian& model_outlier,
const double prior_inlier, const double prior_outlier) : const double prior_inlier, const double prior_outlier) :
Base(key), key_(key), measured_(measured), keyA_(keyA), keyB_(keyB), Base(cref_list_of<1>(key)), key_(key), measured_(measured), keyA_(keyA), keyB_(keyB),
model_inlier_(model_inlier), model_outlier_(model_outlier), model_inlier_(model_inlier), model_outlier_(model_outlier),
prior_inlier_(prior_inlier), prior_outlier_(prior_outlier), flag_bump_up_near_zero_probs_(false){ prior_inlier_(prior_inlier), prior_outlier_(prior_outlier), flag_bump_up_near_zero_probs_(false){
@ -156,7 +156,7 @@ namespace gtsam {
* Hence \f$ b = z - h(x) = - \mathtt{error\_vector}(x) \f$ * Hence \f$ b = z - h(x) = - \mathtt{error\_vector}(x) \f$
*/ */
/* This version of linearize recalculates the noise model each time */ /* This version of linearize recalculates the noise model each time */
virtual boost::shared_ptr<gtsam::GaussianFactor> linearize(const gtsam::Values& x, const gtsam::Ordering& ordering) const { virtual boost::shared_ptr<gtsam::GaussianFactor> linearize(const gtsam::Values& x) const {
// Only linearize if the factor is active // Only linearize if the factor is active
if (!this->active(x)) if (!this->active(x))
return boost::shared_ptr<gtsam::JacobianFactor>(); return boost::shared_ptr<gtsam::JacobianFactor>();
@ -168,7 +168,7 @@ namespace gtsam {
A1 = A[0]; A1 = A[0];
return gtsam::GaussianFactor::shared_ptr( return gtsam::GaussianFactor::shared_ptr(
new gtsam::JacobianFactor(ordering[key_], A1, b, gtsam::noiseModel::Unit::Create(b.size()))); new gtsam::JacobianFactor(key_, A1, b, gtsam::noiseModel::Unit::Create(b.size())));
} }