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addind wrapper for smart factors

release/4.3a0
Luca 2014-04-15 10:56:07 -04:00
parent 97dd2fb931
commit f63db8859b
1 changed files with 14 additions and 0 deletions
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14
gtsam_unstable/gtsam_unstable.h
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@ -376,6 +376,20 @@ virtual class SmartRangeFactor : gtsam::NoiseModelFactor {
}; };
//#include <gtsam_unstable/slam/SmartProjectionPoseFactor.h>
//template<POSE, LANDMARK, CALIBRATION>
//virtual class SmartProjectionPoseFactor: public SmartProjectionFactor<POSE, LANDMARK, CALIBRATION, 6> {
// SmartProjectionPoseFactor(const double rankTol, const double linThreshold,
// const bool manageDegeneracy, const bool enableEPI, const POSE& body_P_sensor);
//
// void add(const Point2 measured_i, const Key poseKey_i, const SharedNoiseModel noise_i,
// const CALIBRATION* K_i);
//
// // enabling serialization functionality
// void serialize() const;
};
#include <gtsam/slam/RangeFactor.h> #include <gtsam/slam/RangeFactor.h>
template<POSE, POINT> template<POSE, POINT>