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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
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42
gtsam/slam/visualSLAM.h
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@ -35,19 +35,19 @@ namespace gtsam {
/** /**
* Typedefs that make up the visualSLAM namespace. * Typedefs that make up the visualSLAM namespace.
*/ */
typedef TypedSymbol<Pose3,'x'> PoseKey; typedef TypedSymbol<Pose3,'x'> PoseKey; ///< The key type used for poses
typedef TypedSymbol<Point3,'l'> PointKey; typedef TypedSymbol<Point3,'l'> PointKey; ///< The key type used for points
typedef LieValues<PoseKey> PoseValues; typedef LieValues<PoseKey> PoseValues; ///< Values used for poses
typedef LieValues<PointKey> PointValues; typedef LieValues<PointKey> PointValues; ///< Values used for points
typedef TupleValues2<PoseValues, PointValues> Values; typedef TupleValues2<PoseValues, PointValues> Values; ///< Values data structure
typedef boost::shared_ptr<Values> shared_values; typedef boost::shared_ptr<Values> shared_values; ///< shared pointer to values data structure
typedef NonlinearEquality<Values, PoseKey> PoseConstraint; typedef NonlinearEquality<Values, PoseKey> PoseConstraint; ///< put a hard constraint on a pose
typedef NonlinearEquality<Values, PointKey> PointConstraint; typedef NonlinearEquality<Values, PointKey> PointConstraint; ///< put a hard constraint on a point
typedef PriorFactor<Values, PoseKey> PosePrior; typedef PriorFactor<Values, PoseKey> PosePrior; ///< put a soft prior on a Pose
typedef PriorFactor<Values, PointKey> PointPrior; 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 GenericProjectionFactor<Values, PointKey, PoseKey> ProjectionFactor;
typedef GenericStereoFactor<Values, PoseKey, PointKey> StereoFactor; typedef GenericStereoFactor<Values, PoseKey, PointKey> StereoFactor;
@ -57,27 +57,30 @@ namespace gtsam {
class Graph: public NonlinearFactorGraph<Values> { class Graph: public NonlinearFactorGraph<Values> {
public: public:
/// shared pointer to this type of graph
typedef boost::shared_ptr<Graph> shared_graph; typedef boost::shared_ptr<Graph> shared_graph;
/** default constructor is empty graph */ /// default constructor is empty graph
Graph() { Graph() {
} }
/** print out graph */ /// print out graph
void print(const std::string& s = "") const { void print(const std::string& s = "") const {
NonlinearFactorGraph<Values>::print(s); NonlinearFactorGraph<Values>::print(s);
} }
/** equals */ /// check if two graphs are equal
bool equals(const Graph& p, double tol = 1e-9) const { bool equals(const Graph& p, double tol = 1e-9) const {
return NonlinearFactorGraph<Values>::equals(p, tol); return NonlinearFactorGraph<Values>::equals(p, tol);
} }
/** /**
* Add a measurement * Add a projection factor measurement (monocular)
* @param j index of camera * @param z the measurement
* @param p to which pose to constrain it to * @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, void addMeasurement(const Point2& z, const SharedNoiseModel& model,
PoseKey i, PointKey j, const shared_ptrK& K) { PoseKey i, PointKey j, const shared_ptrK& K) {
@ -119,6 +122,7 @@ namespace gtsam {
/** /**
* Add a prior on a landmark * Add a prior on a landmark
* @param j index of landmark * @param j index of landmark
* @param p index of point
* @param model uncertainty model of this prior * @param model uncertainty model of this prior
*/ */
void addPointPrior(int j, const Point3& p = Point3(), const SharedNoiseModel& model = noiseModel::Unit::Create(1)) { void addPointPrior(int j, const Point3& p = Point3(), const SharedNoiseModel& model = noiseModel::Unit::Create(1)) {
@ -128,7 +132,7 @@ namespace gtsam {
}; // Graph }; // Graph
// Optimizer /// typedef for Optimizer. The current default will use the multi-frontal solver
typedef NonlinearOptimizer<Graph, Values> Optimizer; typedef NonlinearOptimizer<Graph, Values> Optimizer;
} } // namespaces } } // namespaces