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fix "const Vector&" in gtsam.h

release/4.3a0
Duy-Nguyen Ta 2018-10-17 06:01:14 -04:00
parent 264a240094
commit 15cc9a51b3
1 changed files with 18 additions and 18 deletions
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36
gtsam.h
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@ -568,7 +568,7 @@ class Pose2 {
static gtsam::Pose2 Expmap(Vector v); static gtsam::Pose2 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose2& p); static Vector Logmap(const gtsam::Pose2& p);
Matrix AdjointMap() const; Matrix AdjointMap() const;
Vector Adjoint(const Vector& xi) const; Vector Adjoint(Vector xi) const;
static Matrix wedge(double vx, double vy, double w); static Matrix wedge(double vx, double vy, double w);
// Group Actions on Point2 // Group Actions on Point2
@ -865,7 +865,7 @@ class CalibratedCamera {
// Standard Constructors and Named Constructors // Standard Constructors and Named Constructors
CalibratedCamera(); CalibratedCamera();
CalibratedCamera(const gtsam::Pose3& pose); CalibratedCamera(const gtsam::Pose3& pose);
CalibratedCamera(const Vector& v); CalibratedCamera(Vector v);
static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, double height); static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, double height);
// Testable // Testable
@ -875,7 +875,7 @@ class CalibratedCamera {
// Manifold // Manifold
static size_t Dim(); static size_t Dim();
size_t dim() const; size_t dim() const;
gtsam::CalibratedCamera retract(const Vector& d) const; gtsam::CalibratedCamera retract(Vector d) const;
Vector localCoordinates(const gtsam::CalibratedCamera& T2) const; Vector localCoordinates(const gtsam::CalibratedCamera& T2) const;
// Action on Point3 // Action on Point3
@ -911,7 +911,7 @@ class PinholeCamera {
CALIBRATION calibration() const; CALIBRATION calibration() const;
// Manifold // Manifold
This retract(const Vector& d) const; This retract(Vector d) const;
Vector localCoordinates(const This& T2) const; Vector localCoordinates(const This& T2) const;
size_t dim() const; size_t dim() const;
static size_t Dim(); static size_t Dim();
@ -950,7 +950,7 @@ virtual class SimpleCamera {
gtsam::Cal3_S2 calibration() const; gtsam::Cal3_S2 calibration() const;
// Manifold // Manifold
gtsam::SimpleCamera retract(const Vector& d) const; gtsam::SimpleCamera retract(Vector d) const;
Vector localCoordinates(const gtsam::SimpleCamera& T2) const; Vector localCoordinates(const gtsam::SimpleCamera& T2) const;
size_t dim() const; size_t dim() const;
static size_t Dim(); static size_t Dim();
@ -992,7 +992,7 @@ class StereoCamera {
gtsam::Cal3_S2Stereo calibration() const; gtsam::Cal3_S2Stereo calibration() const;
// Manifold // Manifold
gtsam::StereoCamera retract(const Vector& d) const; gtsam::StereoCamera retract(Vector d) const;
Vector localCoordinates(const gtsam::StereoCamera& T2) const; Vector localCoordinates(const gtsam::StereoCamera& T2) const;
size_t dim() const; size_t dim() const;
static size_t Dim(); static size_t Dim();
@ -1227,12 +1227,12 @@ virtual class Diagonal : gtsam::noiseModel::Gaussian {
}; };
virtual class Constrained : gtsam::noiseModel::Diagonal { virtual class Constrained : gtsam::noiseModel::Diagonal {
static gtsam::noiseModel::Constrained* MixedSigmas(const Vector& mu, const Vector& sigmas); static gtsam::noiseModel::Constrained* MixedSigmas(Vector mu, Vector sigmas);
static gtsam::noiseModel::Constrained* MixedSigmas(double m, const Vector& sigmas); static gtsam::noiseModel::Constrained* MixedSigmas(double m, Vector sigmas);
static gtsam::noiseModel::Constrained* MixedVariances(const Vector& mu, const Vector& variances); static gtsam::noiseModel::Constrained* MixedVariances(Vector mu, Vector variances);
static gtsam::noiseModel::Constrained* MixedVariances(const Vector& variances); static gtsam::noiseModel::Constrained* MixedVariances(Vector variances);
static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& mu, const Vector& precisions); static gtsam::noiseModel::Constrained* MixedPrecisions(Vector mu, Vector precisions);
static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& precisions); static gtsam::noiseModel::Constrained* MixedPrecisions(Vector precisions);
static gtsam::noiseModel::Constrained* All(size_t dim); static gtsam::noiseModel::Constrained* All(size_t dim);
static gtsam::noiseModel::Constrained* All(size_t dim, double mu); static gtsam::noiseModel::Constrained* All(size_t dim, double mu);
@ -1415,12 +1415,12 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
pair<Matrix, Vector> jacobianUnweighted() const; pair<Matrix, Vector> jacobianUnweighted() const;
Matrix augmentedJacobianUnweighted() const; Matrix augmentedJacobianUnweighted() const;
void transposeMultiplyAdd(double alpha, const Vector& e, gtsam::VectorValues& x) const; void transposeMultiplyAdd(double alpha, Vector e, gtsam::VectorValues& x) const;
gtsam::JacobianFactor whiten() const; gtsam::JacobianFactor whiten() const;
pair<gtsam::GaussianConditional*, gtsam::JacobianFactor*> eliminate(const gtsam::Ordering& keys) const; pair<gtsam::GaussianConditional*, gtsam::JacobianFactor*> eliminate(const gtsam::Ordering& keys) const;
void setModel(bool anyConstrained, const Vector& sigmas); void setModel(bool anyConstrained, Vector sigmas);
gtsam::noiseModel::Diagonal* get_model() const; gtsam::noiseModel::Diagonal* get_model() const;
@ -2691,15 +2691,15 @@ virtual class Scenario {
}; };
virtual class ConstantTwistScenario : gtsam::Scenario { virtual class ConstantTwistScenario : gtsam::Scenario {
ConstantTwistScenario(const Vector& w, const Vector& v); ConstantTwistScenario(Vector w, Vector v);
ConstantTwistScenario(const Vector& w, const Vector& v, ConstantTwistScenario(Vector w, Vector v,
const Pose3& nTb0); const Pose3& nTb0);
}; };
virtual class AcceleratingScenario : gtsam::Scenario { virtual class AcceleratingScenario : gtsam::Scenario {
AcceleratingScenario(const gtsam::Rot3& nRb, const gtsam::Point3& p0, AcceleratingScenario(const gtsam::Rot3& nRb, const gtsam::Point3& p0,
const Vector& v0, const Vector& a_n, Vector v0, Vector a_n,
const Vector& omega_b); Vector omega_b);
}; };
//************************************************************************* //*************************************************************************