31 lines
823 B
C++
31 lines
823 B
C++
// These are currently broken
|
|
// Solve by parsing a namespace pose2SLAM::Values and making a Pose2SLAMValues class
|
|
// We also have to solve the shared pointer mess to avoid duplicate methods
|
|
|
|
class Pose2Values{
|
|
Pose2Values();
|
|
Pose2 get(string key) const;
|
|
void insert(string name, const Pose2& val);
|
|
void print(string s) const;
|
|
void clear();
|
|
int size();
|
|
};
|
|
|
|
class Pose2Factor {
|
|
Pose2Factor(string key1, string key2,
|
|
const Pose2& measured, Matrix measurement_covariance);
|
|
void print(string name) const;
|
|
double error(const Pose2Values& c) const;
|
|
size_t size() const;
|
|
GaussianFactor* linearize(const Pose2Values& config) const;
|
|
};
|
|
|
|
class Pose2Graph{
|
|
Pose2Graph();
|
|
void print(string s) const;
|
|
GaussianFactorGraph* linearize_(const Pose2Values& config) const;
|
|
void push_back(Pose2Factor* factor);
|
|
};
|
|
|
|
|