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Use new FixedRef type

release/4.3a0
dellaert 2014-11-28 01:57:55 +01:00
parent ee790839c6
commit 0d41523725
1 changed files with 5 additions and 8 deletions
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13
gtsam_unstable/slam/expressions.h
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@ -20,9 +20,8 @@ typedef Expression<Rot2> Rot2_;
typedef Expression<Pose2> Pose2_;
Point2_ transform_to(const Pose2_& x, const Point2_& p) {
Point2(Pose2::*transform)(const Point2& p,
boost::optional<Matrix23&> H1,
boost::optional<Matrix2&> H2) const = &Pose2::transform_to;
Point2 (Pose2::*transform)(const Point2& p, FixedRef<2, 3> H1,
FixedRef<2, 2> H2) const = &Pose2::transform_to;
return Point2_(x, transform, p);
}
@ -35,9 +34,8 @@ typedef Expression<Pose3> Pose3_;
Point3_ transform_to(const Pose3_& x, const Point3_& p) {
Point3(Pose3::*transform)(const Point3& p,
boost::optional<Matrix36&> Dpose,
boost::optional<Matrix3&> Dpoint) const = &Pose3::transform_to;
Point3 (Pose3::*transform)(const Point3& p, FixedRef<3, 6> Dpose,
FixedRef<3, 3> Dpoint) const = &Pose3::transform_to;
return Point3_(x, transform, p);
}
@ -51,8 +49,7 @@ Point2_ project(const Point3_& p_cam) {
}
Point2 project6(const Pose3& x, const Point3& p, const Cal3_S2& K,
boost::optional<Matrix26&> Dpose, boost::optional<Matrix23&> Dpoint,
boost::optional<Matrix25&> Dcal) {
FixedRef<2, 6> Dpose, FixedRef<2, 3> Dpoint, FixedRef<2, 5> Dcal) {
return PinholeCamera<Cal3_S2>(x, K).project(p, Dpose, Dpoint, Dcal);
}