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formatting/naming only

release/4.3a0
Frank Dellaert 2012-06-05 13:29:04 +00:00
parent 0d2873fd20
commit 10d6157d1d
4 changed files with 9 additions and 10 deletions
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8
examples/PlanarSLAMExample_selfcontained.cpp
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@ -77,7 +77,7 @@ int main(int argc, char** argv) {
/* add measurements */ /* add measurements */
// general noisemodel for measurements // general noisemodel for measurements
SharedDiagonal meas_model = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); SharedDiagonal measurementNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2));
// create the measurement values - indices are (pose id, landmark id) // create the measurement values - indices are (pose id, landmark id)
Rot2 bearing11 = Rot2::fromDegrees(45), Rot2 bearing11 = Rot2::fromDegrees(45),
@ -88,9 +88,9 @@ int main(int argc, char** argv) {
range32 = 2.0; range32 = 2.0;
// create bearing/range factors // create bearing/range factors
BearingRangeFactor<Pose2, Point2> meas11(i1, j1, bearing11, range11, meas_model); BearingRangeFactor<Pose2, Point2> meas11(i1, j1, bearing11, range11, measurementNoise);
BearingRangeFactor<Pose2, Point2> meas21(i2, j1, bearing21, range21, meas_model); BearingRangeFactor<Pose2, Point2> meas21(i2, j1, bearing21, range21, measurementNoise);
BearingRangeFactor<Pose2, Point2> meas32(i3, j2, bearing32, range32, meas_model); BearingRangeFactor<Pose2, Point2> meas32(i3, j2, bearing32, range32, measurementNoise);
// add the factors // add the factors
graph.add(meas11); graph.add(meas11);

1
examples/matlab/Pose2SLAMExample.m
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@ -63,7 +63,6 @@ marginals = graph.marginals(result);
for i=1:result.size() for i=1:result.size()
pose_i = result.pose(i); pose_i = result.pose(i);
P{i}=marginals.marginalCovariance(i); P{i}=marginals.marginalCovariance(i);
fprintf(1,'%.5f %.5f %.5f\n',P{i})
plotPose2(pose_i,'g',P{i}) plotPose2(pose_i,'g',P{i})
end end
axis equal axis equal

2
examples/matlab/Pose2SLAMExample_advanced.m
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@ -38,7 +38,7 @@ graph.addOdometry(2, 3, odometry, odometryNoise);
%% Add measurements %% Add measurements
% general noisemodel for measurements % general noisemodel for measurements
meas_model = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]); measurementNoise = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]);
% print % print
graph.print('full graph'); graph.print('full graph');

8
tests/testMarginals.cpp
View File

@ -65,7 +65,7 @@ TEST(Marginals, planarSLAMmarginals) {
/* add measurements */ /* add measurements */
// general noisemodel for measurements // general noisemodel for measurements
SharedDiagonal meas_model = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); SharedDiagonal measurementNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2));
// create the measurement values - indices are (pose id, landmark id) // create the measurement values - indices are (pose id, landmark id)
Rot2 bearing11 = Rot2::fromDegrees(45), Rot2 bearing11 = Rot2::fromDegrees(45),
@ -76,9 +76,9 @@ TEST(Marginals, planarSLAMmarginals) {
range32 = 2.0; range32 = 2.0;
// create bearing/range factors // create bearing/range factors
graph.add(BearingRangeFactor<Pose2, Point2>(x1, l1, bearing11, range11, meas_model)); graph.add(BearingRangeFactor<Pose2, Point2>(x1, l1, bearing11, range11, measurementNoise));
graph.add(BearingRangeFactor<Pose2, Point2>(x2, l1, bearing21, range21, meas_model)); graph.add(BearingRangeFactor<Pose2, Point2>(x2, l1, bearing21, range21, measurementNoise));
graph.add(BearingRangeFactor<Pose2, Point2>(x3, l2, bearing32, range32, meas_model)); graph.add(BearingRangeFactor<Pose2, Point2>(x3, l2, bearing32, range32, measurementNoise));
// linearization point for marginals // linearization point for marginals
Values soln; Values soln;