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update

release/4.3a0
Frank Dellaert 2012-06-05 13:27:43 +00:00
parent d9100aadb7
commit 0d2873fd20
5 changed files with 25 additions and 1 deletions
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6
gtsam.h
View File

@ -674,6 +674,7 @@ class Values {
void print(string s) const;
static pose2SLAM::Values Circle(size_t n, double R);
void insertPose(size_t key, const gtsam::Pose2& pose);
void updatePose(size_t key, const gtsam::Pose2& pose);
gtsam::Pose2 pose(size_t i);
Vector xs() const;
Vector ys() const;
@ -723,6 +724,7 @@ class Values {
void print(string s) const;
static pose3SLAM::Values Circle(size_t n, double R);
void insertPose(size_t key, const gtsam::Pose3& pose);
void updatePose(size_t key, const gtsam::Pose3& pose);
gtsam::Pose3 pose(size_t i);
Vector xs() const;
Vector ys() const;
@ -770,6 +772,8 @@ class Values {
void print(string s) const;
void insertPose(size_t key, const gtsam::Pose2& pose);
void insertPoint(size_t key, const gtsam::Point2& point);
void updatePose(size_t key, const gtsam::Pose2& pose);
void updatePoint(size_t key, const gtsam::Point2& point);
gtsam::Pose2 pose(size_t key) const;
gtsam::Point2 point(size_t key) const;
};
@ -871,6 +875,8 @@ class Values {
Values();
void insertPose(size_t key, const gtsam::Pose3& pose);
void insertPoint(size_t key, const gtsam::Point3& pose);
void updatePose(size_t key, const gtsam::Pose3& pose);
void updatePoint(size_t key, const gtsam::Point3& pose);
size_t size() const;
void print(string s) const;
gtsam::Pose3 pose(size_t i);

6
gtsam/slam/planarSLAM.h
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@ -78,6 +78,12 @@ namespace planarSLAM {
/// insert a point
void insertPoint(Key j, const Point2& point) { insert(j, point); }
/// update a pose
void updatePose(Key i, const Pose2& pose) { update(i, pose); }
/// update a point
void updatePoint(Key j, const Point2& point) { update(j, point); }
};
/**

3
gtsam/slam/pose2SLAM.h
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@ -58,6 +58,9 @@ namespace pose2SLAM {
/// insert a pose
void insertPose(Key i, const Pose2& pose) { insert(i, pose); }
/// update a pose
void updatePose(Key i, const Pose2& pose) { update(i, pose); }
/// get a pose
Pose2 pose(Key i) const { return at<Pose2>(i); }

3
gtsam/slam/pose3SLAM.h
View File

@ -57,6 +57,9 @@ namespace pose3SLAM {
/// insert a pose
void insertPose(Key i, const Pose3& pose) { insert(i, pose); }
/// update a pose
void updatePose(Key i, const Pose3& pose) { update(i, pose); }
/// get a pose
Pose3 pose(Key i) const { return at<Pose3>(i); }

6
gtsam/slam/visualSLAM.h
View File

@ -66,6 +66,12 @@ namespace visualSLAM {
/// insert a point
void insertPoint(Key j, const Point3& point) { insert(j, point); }
/// update a pose
void updatePose(Key i, const Pose3& pose) { update(i, pose); }
/// update a point
void updatePoint(Key j, const Point3& point) { update(j, point); }
/// get a pose
Pose3 pose(Key i) const { return at<Pose3>(i); }