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Wrapped some more Pose2/PlanarSLAM functions with Richard for ASPN/CircleDemo.m

release/4.3a0
Frank Dellaert 2011-11-03 21:44:25 +00:00
parent cd9d3a0796
commit 080496db1d
3 changed files with 13 additions and 0 deletions
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2
gtsam.h
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@ -38,6 +38,7 @@ class Pose2 {
double y() const;
double theta() const;
size_t dim() const;
Pose2* between_(const Pose2& p2);
};
class SharedGaussian {
@ -129,6 +130,7 @@ class Ordering{
class PlanarSLAMValues {
PlanarSLAMValues();
void print(string s) const;
Pose2* pose(int key);
void insertPose(int key, const Pose2& pose);
void insertPoint(int key, const Point2& point);
};

5
gtsam/geometry/Pose2.h
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@ -136,6 +136,11 @@ namespace gtsam {
boost::optional<Matrix&> H1=boost::none,
boost::optional<Matrix&> H2=boost::none) const;
/// MATLAB version returns shared pointer
boost::shared_ptr<Pose2> between_(const Pose2& p2) {
return boost::shared_ptr<Pose2>(new Pose2(between(p2)));
}
/** return transformation matrix */
Matrix matrix() const;

6
gtsam/slam/planarSLAM.h
View File

@ -70,6 +70,12 @@ namespace gtsam {
// Convenience for MATLAB wrapper, which does not allow for identically named methods
/// get a pose
boost::shared_ptr<Pose2> pose(int key) {
Pose2 pose = (*this)[PoseKey(key)];
return boost::shared_ptr<Pose2>(new Pose2(pose));
}
/// insert a pose
void insertPose(int key, const Pose2& pose) {insert(PoseKey(key), pose); }