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				|  | @ -238,6 +238,7 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, | |||
| } | ||||
| 
 | ||||
| //------------------------------------------------------------------------------
 | ||||
| #ifdef ALLOW_DEPRECATED_IN_GTSAM4 | ||||
| CombinedImuFactor::CombinedImuFactor( | ||||
|     Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, | ||||
|     const CombinedPreintegratedMeasurements& pim, const Vector3& n_gravity, | ||||
|  | @ -254,7 +255,7 @@ CombinedImuFactor::CombinedImuFactor( | |||
|   p->use2ndOrderCoriolis = use2ndOrderCoriolis; | ||||
|   _PIM_.p_ = p; | ||||
| } | ||||
| //------------------------------------------------------------------------------
 | ||||
| 
 | ||||
| void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, | ||||
|                                 Pose3& pose_j, Vector3& vel_j, | ||||
|                                 const imuBias::ConstantBias& bias_i, | ||||
|  | @ -268,6 +269,7 @@ void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, | |||
|   pose_j = pvb.pose; | ||||
|   vel_j = pvb.velocity; | ||||
| } | ||||
| #endif | ||||
| 
 | ||||
| } /// namespace gtsam
 | ||||
| 
 | ||||
|  |  | |||
|  | @ -281,6 +281,7 @@ public: | |||
|   /// @deprecated typename
 | ||||
|   typedef gtsam::PreintegratedCombinedMeasurements CombinedPreintegratedMeasurements; | ||||
| 
 | ||||
| #ifdef ALLOW_DEPRECATED_IN_GTSAM4 | ||||
|   /// @deprecated constructor
 | ||||
|   CombinedImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, | ||||
|                     Key bias_j, const CombinedPreintegratedMeasurements& pim, | ||||
|  | @ -294,6 +295,7 @@ public: | |||
|                       CombinedPreintegratedMeasurements& pim, | ||||
|                       const Vector3& n_gravity, const Vector3& omegaCoriolis, | ||||
|                       const bool use2ndOrderCoriolis = false); | ||||
| #endif | ||||
| 
 | ||||
| private: | ||||
| 
 | ||||
|  |  | |||
|  | @ -85,6 +85,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( | |||
| } | ||||
| 
 | ||||
| //------------------------------------------------------------------------------
 | ||||
| #ifdef ALLOW_DEPRECATED_IN_GTSAM4 | ||||
| PreintegratedImuMeasurements::PreintegratedImuMeasurements( | ||||
|     const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance, | ||||
|     const Matrix3& measuredOmegaCovariance, | ||||
|  | @ -100,7 +101,6 @@ PreintegratedImuMeasurements::PreintegratedImuMeasurements( | |||
|   resetIntegration(); | ||||
| } | ||||
| 
 | ||||
| //------------------------------------------------------------------------------
 | ||||
| void PreintegratedImuMeasurements::integrateMeasurement( | ||||
|     const Vector3& measuredAcc, const Vector3& measuredOmega, double deltaT, | ||||
|     boost::optional<Pose3> body_P_sensor) { | ||||
|  | @ -108,6 +108,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( | |||
|   p_->body_P_sensor = body_P_sensor; | ||||
|   integrateMeasurement(measuredAcc, measuredOmega, deltaT); | ||||
| } | ||||
| #endif | ||||
| 
 | ||||
| //------------------------------------------------------------------------------
 | ||||
| // ImuFactor methods
 | ||||
|  | @ -171,6 +172,7 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, | |||
| } | ||||
| 
 | ||||
| //------------------------------------------------------------------------------
 | ||||
| #ifdef ALLOW_DEPRECATED_IN_GTSAM4 | ||||
| void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, | ||||
|     Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, | ||||
|     PreintegratedMeasurements& pim, const Vector3& n_gravity, | ||||
|  | @ -181,5 +183,5 @@ void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, | |||
|   pose_j = pvb.pose; | ||||
|   vel_j = pvb.velocity; | ||||
| } | ||||
| 
 | ||||
| #endif | ||||
| } // namespace gtsam
 | ||||
|  |  | |||
|  | @ -118,6 +118,7 @@ public: | |||
|   /// Return pre-integrated measurement covariance
 | ||||
|   Matrix preintMeasCov() const { return preintMeasCov_; } | ||||
| 
 | ||||
| #ifdef ALLOW_DEPRECATED_IN_GTSAM4 | ||||
|   /// @deprecated constructor
 | ||||
|   /// NOTE(frank): assumes Z-Down convention, only second order integration supported
 | ||||
|   PreintegratedImuMeasurements(const imuBias::ConstantBias& biasHat, | ||||
|  | @ -131,6 +132,7 @@ public: | |||
|   void integrateMeasurement(const Vector3& measuredAcc, | ||||
|       const Vector3& measuredOmega, double dt, | ||||
|       boost::optional<Pose3> body_P_sensor); | ||||
| #endif | ||||
| 
 | ||||
| private: | ||||
| 
 | ||||
|  |  | |||
|  | @ -295,6 +295,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i, | |||
| } | ||||
| 
 | ||||
| //------------------------------------------------------------------------------
 | ||||
| #ifdef ALLOW_DEPRECATED_IN_GTSAM4 | ||||
| PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, | ||||
|     const Vector3& vel_i, const imuBias::ConstantBias& bias_i, | ||||
|     const Vector3& n_gravity, const Vector3& omegaCoriolis, | ||||
|  | @ -307,7 +308,7 @@ PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, | |||
|   p_ = q; | ||||
|   return PoseVelocityBias(predict(NavState(pose_i, vel_i), bias_i), bias_i); | ||||
| } | ||||
| 
 | ||||
| #endif | ||||
| //------------------------------------------------------------------------------
 | ||||
| 
 | ||||
| }/// namespace gtsam
 | ||||
|  |  | |||
|  | @ -28,6 +28,7 @@ | |||
| 
 | ||||
| namespace gtsam { | ||||
| 
 | ||||
| #ifdef ALLOW_DEPRECATED_IN_GTSAM4 | ||||
| /// @deprecated
 | ||||
| struct PoseVelocityBias { | ||||
|   Pose3 pose; | ||||
|  | @ -44,6 +45,7 @@ struct PoseVelocityBias { | |||
|     return NavState(pose, velocity); | ||||
|   } | ||||
| }; | ||||
| #endif | ||||
| 
 | ||||
| /**
 | ||||
|  * PreintegrationBase is the base class for PreintegratedMeasurements | ||||
|  | @ -101,7 +103,10 @@ public: | |||
| protected: | ||||
| 
 | ||||
|   /// Parameters. Declared mutable only for deprecated predict method.
 | ||||
|   mutable boost::shared_ptr<Params> p_; | ||||
| #ifdef ALLOW_DEPRECATED_IN_GTSAM4 | ||||
|   mutable | ||||
| #endif | ||||
|   boost::shared_ptr<Params> p_; | ||||
| 
 | ||||
|   /// Acceleration and gyro bias used for preintegration
 | ||||
|   imuBias::ConstantBias biasHat_; | ||||
|  | @ -277,6 +282,7 @@ public: | |||
| 
 | ||||
|   /// @}
 | ||||
| 
 | ||||
| #ifdef ALLOW_DEPRECATED_IN_GTSAM4 | ||||
|   /// @name Deprecated
 | ||||
|   /// @{
 | ||||
| 
 | ||||
|  | @ -286,6 +292,7 @@ public: | |||
|       const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) const; | ||||
| 
 | ||||
|   /// @}
 | ||||
| #endif | ||||
| 
 | ||||
| private: | ||||
|   /** Serialization function */ | ||||
|  |  | |||
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