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added SmartProjectionFactor to matlab wrapper

release/4.3a0
djensen3 2014-05-01 15:55:37 -04:00
parent ce13807d10
commit 8dbd7c175c
1 changed files with 12 additions and 28 deletions
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40
gtsam_unstable/gtsam_unstable.h
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@ -20,8 +20,8 @@ virtual class gtsam::NonlinearFactor;
virtual class gtsam::GaussianFactor; virtual class gtsam::GaussianFactor;
virtual class gtsam::HessianFactor; virtual class gtsam::HessianFactor;
virtual class gtsam::JacobianFactor; virtual class gtsam::JacobianFactor;
virtual class gtsam::SmartFactorBase; virtual class gtsam::SharedNoiseModel;
virtual class gtsam::SmartProjectionFactor; virtual class gtsam::Cal3_S2;
class gtsam::GaussianFactorGraph; class gtsam::GaussianFactorGraph;
class gtsam::NonlinearFactorGraph; class gtsam::NonlinearFactorGraph;
class gtsam::Ordering; class gtsam::Ordering;
@ -378,39 +378,23 @@ virtual class SmartRangeFactor : gtsam::NoiseModelFactor {
}; };
#include <gtsam_unstable/slam/SmartFactorBase.h>
template<POSE, CALIBRATION, D>
virtual class SmartFactorBase : gtsam::NonlinearFactor {
SmartFactorBase(const POSE& body_P_sensor);
void add(const Point2& measured_i, const Key& poseKey_i,
const SharedNoiseModel& noise_i);
void serialize() const;
};
#include <gtsam_unstable/slam/SmartProjectionFactor.h>
template<POSE, LANDMARK, CALIBRATION, D>
virtual class SmartProjectionFactor : gtsam::SmartFactorBase {
SmartProjectionFactor(double rankTol, double linThreshold,
bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor);
void serialize() const;
};
#include <gtsam_unstable/slam/SmartProjectionPoseFactor.h> #include <gtsam_unstable/slam/SmartProjectionPoseFactor.h>
template<POSE = {gtsam::Pose3},LANDMARK = {gtsam::Point3},CALIBRATION = {gtsam::Cal3_S2}> template<POSE, LANDMARK, CALIBRATION>
virtual class SmartProjectionPoseFactor : gtsam::SmartProjectionFactor { virtual class SmartProjectionPoseFactor : gtsam::NonlinearFactor {
//SmartProjectionPoseFactor(double rankTol, double linThreshold, bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor); SmartProjectionPoseFactor(double rankTol, double linThreshold,
SmartProjectionPoseFactor(); bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor);
//SmartProjectionPoseFactor();
//void add(gtsam::Point2 measured_i, size_t poseKey_i, gtsam::SharedNoiseModel noise_i, CALIBRATION* K_i); void add(const gtsam::Point2 measured_i, const gtsam::Key poseKey_i, const gtsam::SharedNoiseModel noise_i,
const CALIBRATION* K_i);
// enabling serialization functionality // enabling serialization functionality
void serialize() const; //void serialize() const;
}; };
typedef gtsam::SmartProjectionPoseFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> SmartProjectionPose3Factor;
#include <gtsam/slam/RangeFactor.h> #include <gtsam/slam/RangeFactor.h>
template<POSE, POINT> template<POSE, POINT>
virtual class RangeFactor : gtsam::NonlinearFactor { virtual class RangeFactor : gtsam::NonlinearFactor {