39 lines
1.1 KiB
C++
39 lines
1.1 KiB
C++
/*
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* TupleConfig-inl.h
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*
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* Created on: Jan 14, 2010
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* Author: richard
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*/
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#include "LieConfig-inl.h"
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#include "TupleConfig.h"
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#define INSTANTIATE_PAIR_CONFIG(J1,X1,J2,X2) \
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/*INSTANTIATE_LIE_CONFIG(J1,X1);*/ \
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/*INSTANTIATE_LIE_CONFIG(J2,X2);*/ \
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template class PairConfig<J1,X1,J2,X2>; \
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/*template void PairConfig<J1,X1,J2,X2>::print(const std::string&) const;*/ \
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template PairConfig<J1,X1,J2,X2> expmap(PairConfig<J1,X1,J2,X2>, const VectorConfig&);
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namespace gtsam {
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template<class J1, class X1, class J2, class X2>
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void PairConfig<J1,X1,J2,X2>::print(const std::string& s) const {
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std::cout << "TupleConfig " << s << ", size " << size_ << "\n";
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first.print(s + "Config1: ");
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second.print(s + "Config2: ");
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}
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template<class J1, class X1, class J2, class X2>
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void PairConfig<J1,X1,J2,X2>::insert(const PairConfig& config) {
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for (typename Config1::const_iterator it = config.first.begin(); it!=config.first.end(); it++) {
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insert(it->first, it->second);
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}
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for (typename Config2::const_iterator it = config.second.begin(); it!=config.second.end(); it++) {
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insert(it->first, it->second);
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}
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}
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}
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