fixed doxygen documentation
parent
936ee6d9fd
commit
929be39e76
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@ -35,19 +35,19 @@ namespace gtsam {
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/**
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/**
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* Typedefs that make up the visualSLAM namespace.
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* Typedefs that make up the visualSLAM namespace.
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*/
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*/
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typedef TypedSymbol<Pose3,'x'> PoseKey;
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typedef TypedSymbol<Pose3,'x'> PoseKey; ///< The key type used for poses
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typedef TypedSymbol<Point3,'l'> PointKey;
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typedef TypedSymbol<Point3,'l'> PointKey; ///< The key type used for points
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typedef LieValues<PoseKey> PoseValues;
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typedef LieValues<PoseKey> PoseValues; ///< Values used for poses
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typedef LieValues<PointKey> PointValues;
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typedef LieValues<PointKey> PointValues; ///< Values used for points
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typedef TupleValues2<PoseValues, PointValues> Values;
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typedef TupleValues2<PoseValues, PointValues> Values; ///< Values data structure
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typedef boost::shared_ptr<Values> shared_values;
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typedef boost::shared_ptr<Values> shared_values; ///< shared pointer to values data structure
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typedef NonlinearEquality<Values, PoseKey> PoseConstraint;
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typedef NonlinearEquality<Values, PoseKey> PoseConstraint; ///< put a hard constraint on a pose
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typedef NonlinearEquality<Values, PointKey> PointConstraint;
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typedef NonlinearEquality<Values, PointKey> PointConstraint; ///< put a hard constraint on a point
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typedef PriorFactor<Values, PoseKey> PosePrior;
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typedef PriorFactor<Values, PoseKey> PosePrior; ///< put a soft prior on a Pose
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typedef PriorFactor<Values, PointKey> PointPrior;
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typedef PriorFactor<Values, PointKey> PointPrior; ///< put a soft prior on a point
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// Typedef for general use
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/// monocular and stereo camera typedefs for general use
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typedef GenericProjectionFactor<Values, PointKey, PoseKey> ProjectionFactor;
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typedef GenericProjectionFactor<Values, PointKey, PoseKey> ProjectionFactor;
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typedef GenericStereoFactor<Values, PoseKey, PointKey> StereoFactor;
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typedef GenericStereoFactor<Values, PoseKey, PointKey> StereoFactor;
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@ -57,27 +57,30 @@ namespace gtsam {
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class Graph: public NonlinearFactorGraph<Values> {
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class Graph: public NonlinearFactorGraph<Values> {
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public:
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public:
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/// shared pointer to this type of graph
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typedef boost::shared_ptr<Graph> shared_graph;
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typedef boost::shared_ptr<Graph> shared_graph;
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/** default constructor is empty graph */
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/// default constructor is empty graph
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Graph() {
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Graph() {
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}
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}
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/** print out graph */
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/// print out graph
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void print(const std::string& s = "") const {
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void print(const std::string& s = "") const {
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NonlinearFactorGraph<Values>::print(s);
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NonlinearFactorGraph<Values>::print(s);
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}
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}
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/** equals */
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/// check if two graphs are equal
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bool equals(const Graph& p, double tol = 1e-9) const {
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bool equals(const Graph& p, double tol = 1e-9) const {
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return NonlinearFactorGraph<Values>::equals(p, tol);
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return NonlinearFactorGraph<Values>::equals(p, tol);
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}
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}
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/**
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/**
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* Add a measurement
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* Add a projection factor measurement (monocular)
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* @param j index of camera
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* @param z the measurement
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* @param p to which pose to constrain it to
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* @param model the noise model for the measurement
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* @param i index of camera
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* @param j index of point
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* @param K shared pointer to calibration object
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*/
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*/
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void addMeasurement(const Point2& z, const SharedNoiseModel& model,
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void addMeasurement(const Point2& z, const SharedNoiseModel& model,
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PoseKey i, PointKey j, const shared_ptrK& K) {
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PoseKey i, PointKey j, const shared_ptrK& K) {
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@ -119,6 +122,7 @@ namespace gtsam {
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/**
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/**
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* Add a prior on a landmark
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* Add a prior on a landmark
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* @param j index of landmark
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* @param j index of landmark
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* @param p index of point
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* @param model uncertainty model of this prior
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* @param model uncertainty model of this prior
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*/
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*/
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void addPointPrior(int j, const Point3& p = Point3(), const SharedNoiseModel& model = noiseModel::Unit::Create(1)) {
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void addPointPrior(int j, const Point3& p = Point3(), const SharedNoiseModel& model = noiseModel::Unit::Create(1)) {
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@ -128,7 +132,7 @@ namespace gtsam {
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}; // Graph
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}; // Graph
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// Optimizer
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/// typedef for Optimizer. The current default will use the multi-frontal solver
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typedef NonlinearOptimizer<Graph, Values> Optimizer;
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typedef NonlinearOptimizer<Graph, Values> Optimizer;
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} } // namespaces
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} } // namespaces
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