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fixes in Pose2SLAM

release/4.3a0
Chris Beall 2012-01-28 02:49:43 +00:00
parent 9bceda3f57
commit 033807321d
1 changed files with 30 additions and 39 deletions
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69
gtsam.h
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@ -427,6 +427,36 @@ class Odometry {
}///\namespace planarSLAM
// Pose2SLAM example domain
#include <gtsam/slam/pose2SLAM.h>
namespace pose2SLAM {
class Values {
Values();
void print(string s) const;
void insertPose(int key, const Pose2& pose);
Pose2 pose(int i);
};
class Graph {
Graph();
void print(string s) const;
double error(const pose2SLAM::Values& values) const;
Ordering* orderingCOLAMD(const pose2SLAM::Values& values) const;
GaussianFactorGraph* linearize(const pose2SLAM::Values& values,
const Ordering& ordering) const;
void addPrior(int key, const Pose2& pose, const SharedNoiseModel& noiseModel);
void addConstraint(int key, const Pose2& pose);
void addOdometry(int key1, int key2, const Pose2& odometry, const SharedNoiseModel& noiseModel);
pose2SLAM::Values optimize(const pose2SLAM::Values& initialEstimate);
};
}///\namespace pose2SLAM
// Simulated2D Example Domain
#include <gtsam/slam/simulated2D.h>
namespace simulated2D {
@ -471,45 +501,6 @@ class Graph {
}///\namespace simulated2DOriented
// Planar SLAM example domain
#include <gtsam/slam/pose2SLAM.h>
namespace pose2SLAM {
class Values {
Values();
void print(string s) const;
Pose2 pose(int key) const;
Point2 point(int key) const;
void insertPose(int key, const Pose2& pose);
void insertPoint(int key, const Point2& point);
};
class Graph {
Graph();
void print(string s) const;
double error(const planarSLAM::Values& values) const;
Ordering* orderingCOLAMD(const planarSLAM::Values& values) const;
GaussianFactorGraph* linearize(const planarSLAM::Values& values,
const Ordering& ordering) const;
void addPrior(int key, const Pose2& pose, const SharedNoiseModel& noiseModel);
void addHardConstraint(int key, const Pose2& pose);
void addConstraint(int key1, int key2, const Pose2& odometry, const SharedNoiseModel& noiseModel);
planarSLAM::Values optimize(const planarSLAM::Values& initialEstimate);
};
}///\namespace pose2SLAM
//// These are considered to be broken and will be added back as they start working
//// It's assumed that there have been interface changes that might break this
//