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Compile changes for matlab - still doesn't work

release/4.3a0
Natesh Srinivasan 2011-10-21 18:05:32 +00:00
parent f62a6bda1e
commit 905377efb6
5 changed files with 5 additions and 53 deletions
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49
gtsam.h
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@ -59,57 +59,8 @@ 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();

2
gtsam/base/blockMatrices.h
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@ -445,7 +445,7 @@ public:
/** access to full matrix */ /** access to full matrix */
const FullMatrix& fullMatrix() const { return matrix_; } const FullMatrix& fullMatrix() const { return matrix_; }
typedef typeof(matrixTemp_.col(0).segment(0, 1)) Column; typedef typeof((FullMatrix)matrixTemp_.col(0).segment(0, 1)) Column;
typedef typeof(((const FullMatrix&)matrixTemp_).col(0).segment(0, 1)) constColumn; typedef typeof(((const FullMatrix&)matrixTemp_).col(0).segment(0, 1)) constColumn;
Column column(size_t i_block, size_t j_block, size_t columnOffset) { Column column(size_t i_block, size_t j_block, size_t columnOffset) {

4
gtsam/slam/PlanarSLAMGraph.h
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@ -17,9 +17,9 @@
#pragma once #pragma once
#include <gtsam/slam/PlanarSLAM.h> #include <gtsam/slam/planarSLAM.h>
#include <gtsam/slam/PlanarSLAMValues.h> #include <gtsam/slam/PlanarSLAMValues.h>
#include <gtsam/nonlinear/NonlinearOptimization-inl.h> // #include <gtsam/nonlinear/NonlinearOptimization-inl.h>
namespace gtsam { namespace gtsam {

2
gtsam/slam/PlanarSLAMValues.h
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@ -17,7 +17,7 @@
#pragma once #pragma once
#include <gtsam/slam/PlanarSLAM.h> #include <gtsam/slam/planarSLAM.h>
namespace gtsam { namespace gtsam {

1
gtsam/slam/planarSLAM.cpp
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@ -18,6 +18,7 @@
#include <gtsam/slam/planarSLAM.h> #include <gtsam/slam/planarSLAM.h>
#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h> #include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
#include <gtsam/nonlinear/NonlinearOptimizer-inl.h> #include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
#include <gtsam/nonlinear/NonlinearOptimization-inl.h>
#include <gtsam/nonlinear/TupleValues-inl.h> #include <gtsam/nonlinear/TupleValues-inl.h>
// Use planarSLAM namespace for specific SLAM instance // Use planarSLAM namespace for specific SLAM instance