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Method to add a factor without having to do shared factor dance

release/4.3a0
Frank Dellaert 2010-01-10 17:02:35 +00:00
parent 120f1301c2
commit 12caabb667
1 changed files with 8 additions and 5 deletions
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13
cpp/Pose2Graph.h
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@ -7,20 +7,16 @@
#pragma once #pragma once
#include "NonlinearFactorGraph.h" #include "NonlinearFactorGraph.h"
#include "FactorGraph.h"
#include "Pose2Factor.h" #include "Pose2Factor.h"
#include "Pose2Config.h" #include "Pose2Config.h"
#include "Testable.h"
#include "Ordering.h"
namespace gtsam{ namespace gtsam{
/** /**
* Non-linear factor graph for visual SLAM * Non-linear factor graph for visual SLAM
*/ */
class Pose2Graph : public gtsam::NonlinearFactorGraph<Pose2Config>{ class Pose2Graph : public gtsam::NonlinearFactorGraph<Pose2Config> {
public: public:
@ -32,6 +28,13 @@ public:
*/ */
bool equals(const Pose2Graph& p, double tol=1e-9) const; bool equals(const Pose2Graph& p, double tol=1e-9) const;
/**
* Add a factor without having to do shared factor dance
*/
inline void add(const std::string& key1, const std::string& key2,
const Pose2& measured, const Matrix& covariance) {
push_back(sharedFactor(new Pose2Factor(key1, key2, measured, covariance)));
}
private: private:
/** Serialization function */ /** Serialization function */