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Merge pull request #1533 from borglab/wrapper-fix

release/4.3a0
Varun Agrawal 2023-05-31 17:03:50 -04:00 committed by GitHub
parent 3a1d23b5bb 9fb651d870
commit 0a7c1d8712
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 9 additions and 4 deletions
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8
gtsam/geometry/geometry.i
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@ -575,13 +575,13 @@ class Unit3 {
gtsam::Point3 point3() const; gtsam::Point3 point3() const;
gtsam::Point3 point3(Eigen::Ref<Eigen::MatrixXd> H) const; gtsam::Point3 point3(Eigen::Ref<Eigen::MatrixXd> H) const;
Vector3 unitVector() const; gtsam::Vector3 unitVector() const;
Vector3 unitVector(Eigen::Ref<Eigen::MatrixXd> H) const; gtsam::Vector3 unitVector(Eigen::Ref<Eigen::MatrixXd> H) const;
double dot(const gtsam::Unit3& q) const; double dot(const gtsam::Unit3& q) const;
double dot(const gtsam::Unit3& q, Eigen::Ref<Eigen::MatrixXd> H1, double dot(const gtsam::Unit3& q, Eigen::Ref<Eigen::MatrixXd> H1,
Eigen::Ref<Eigen::MatrixXd> H2) const; Eigen::Ref<Eigen::MatrixXd> H2) const;
Vector2 errorVector(const gtsam::Unit3& q) const; gtsam::Vector2 errorVector(const gtsam::Unit3& q) const;
Vector2 errorVector(const gtsam::Unit3& q, Eigen::Ref<Eigen::MatrixXd> H_p, gtsam::Vector2 errorVector(const gtsam::Unit3& q, Eigen::Ref<Eigen::MatrixXd> H_p,
Eigen::Ref<Eigen::MatrixXd> H_q) const; Eigen::Ref<Eigen::MatrixXd> H_q) const;
// Manifold // Manifold

5
matlab/gtsam_tests/testCal3Unified.m
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@ -5,3 +5,8 @@ K = Cal3Unified;
EXPECT('fx',K.fx()==1); EXPECT('fx',K.fx()==1);
EXPECT('fy',K.fy()==1); EXPECT('fy',K.fy()==1);
params = PreintegrationParams.MakeSharedU(-9.81);
%params.getOmegaCoriolis()
expectedBodyPSensor = gtsam.Pose3(gtsam.Rot3(0, 0, 0, 0, 0, 0, 0, 0, 0), gtsam.Point3(0, 0, 0));
EXPECT('getBodyPSensor', expectedBodyPSensor.equals(params.getBodyPSensor(), 1e-9));