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

fixed doxygen documentation

release/4.3a0
Chris Beall 2011-09-07 17:02:03 +00:00
parent 936ee6d9fd
commit 929be39e76
1 changed files with 23 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
gtsam/slam/visualSLAM.h
View File

@ -35,19 +35,19 @@ namespace gtsam {
/**
* Typedefs that make up the visualSLAM namespace.
*/
typedef TypedSymbol<Pose3,'x'> PoseKey;
typedef TypedSymbol<Point3,'l'> PointKey;
typedef LieValues<PoseKey> PoseValues;
typedef LieValues<PointKey> PointValues;
typedef TupleValues2<PoseValues, PointValues> Values;
typedef boost::shared_ptr<Values> shared_values;
typedef TypedSymbol<Pose3,'x'> PoseKey; ///< The key type used for poses
typedef TypedSymbol<Point3,'l'> PointKey; ///< The key type used for points
typedef LieValues<PoseKey> PoseValues; ///< Values used for poses
typedef LieValues<PointKey> PointValues; ///< Values used for points
typedef TupleValues2<PoseValues, PointValues> Values; ///< Values data structure
typedef boost::shared_ptr<Values> shared_values; ///< shared pointer to values data structure
typedef NonlinearEquality<Values, PoseKey> PoseConstraint;
typedef NonlinearEquality<Values, PointKey> PointConstraint;
typedef PriorFactor<Values, PoseKey> PosePrior;
typedef PriorFactor<Values, PointKey> PointPrior;
typedef NonlinearEquality<Values, PoseKey> PoseConstraint; ///< put a hard constraint on a pose
typedef NonlinearEquality<Values, PointKey> PointConstraint; ///< put a hard constraint on a point
typedef PriorFactor<Values, PoseKey> PosePrior; ///< put a soft prior on a Pose
typedef PriorFactor<Values, PointKey> PointPrior; ///< put a soft prior on a point
// Typedef for general use
/// monocular and stereo camera typedefs for general use
typedef GenericProjectionFactor<Values, PointKey, PoseKey> ProjectionFactor;
typedef GenericStereoFactor<Values, PoseKey, PointKey> StereoFactor;
@ -57,27 +57,30 @@ namespace gtsam {
class Graph: public NonlinearFactorGraph<Values> {
public:
/// shared pointer to this type of graph
typedef boost::shared_ptr<Graph> shared_graph;
/** default constructor is empty graph */
/// default constructor is empty graph
Graph() {
}
/** print out graph */
/// print out graph
void print(const std::string& s = "") const {
NonlinearFactorGraph<Values>::print(s);
}
/** equals */
/// check if two graphs are equal
bool equals(const Graph& p, double tol = 1e-9) const {
return NonlinearFactorGraph<Values>::equals(p, tol);
}
/**
* Add a measurement
* @param j index of camera
* @param p to which pose to constrain it to
* Add a projection factor measurement (monocular)
* @param z the measurement
* @param model the noise model for the measurement
* @param i index of camera
* @param j index of point
* @param K shared pointer to calibration object
*/
void addMeasurement(const Point2& z, const SharedNoiseModel& model,
PoseKey i, PointKey j, const shared_ptrK& K) {
@ -119,6 +122,7 @@ namespace gtsam {
/**
* Add a prior on a landmark
* @param j index of landmark
* @param p index of point
* @param model uncertainty model of this prior
*/
void addPointPrior(int j, const Point3& p = Point3(), const SharedNoiseModel& model = noiseModel::Unit::Create(1)) {
@ -128,7 +132,7 @@ namespace gtsam {
}; // Graph
// Optimizer
/// typedef for Optimizer. The current default will use the multi-frontal solver
typedef NonlinearOptimizer<Graph, Values> Optimizer;
} } // namespaces