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Updating with OptionalJacobian

release/4.3a0
Andrew Melim 2014-12-09 11:49:47 -05:00
parent 90676199dd
commit 137ea64200
2 changed files with 4 additions and 4 deletions
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4
gtsam_unstable/nonlinear/expressions.h
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@ -19,8 +19,8 @@ namespace gtsam {
Pose2_ between(const Pose2_& x, const Pose2_& p) {
Pose2(Pose2::*transform)(const Pose2& p,
boost::optional<Matrix3&> H1,
boost::optional<Matrix3&> H2) const = &Pose2::between;
OptionalJacobian<3, 3> H1,
OptionalJacobian<3, 3> H2) const = &Pose2::between;
return Pose2_(x, transform, p);
}

4
gtsam_unstable/slam/expressions.h
View File

@ -60,8 +60,8 @@ Point2_ project3(const Pose3_& x, const Point3_& p, const Cal3_S2_& K) {
template<class CAL>
Point2_ uncalibrate(const Expression<CAL>& K, const Point2_& xy_hat) {
Point2(CAL::*uncal)(const Point2& p,
boost::optional<Matrix25&> Dpose,
boost::optional<Matrix2&> Dpoint) const = &CAL::uncalibrate;
OptionalJacobian<2, 5> Dpose,
OptionalJacobian<2, 2> Dpoint) const = &CAL::uncalibrate;
return Point2_(K, uncal, xy_hat);
}