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use Vector_ for conciseness

release/4.3a0
Frank Dellaert 2009-12-11 05:28:19 +00:00
parent 11b61138b7
commit 16e1f6e56d
1 changed files with 19 additions and 35 deletions
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54
cpp/smallExample.cpp
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@ -66,57 +66,41 @@ ExampleNonlinearFactorGraph createNonlinearFactorGraph() {
} }
/* ************************************************************************* */ /* ************************************************************************* */
VectorConfig createConfig() VectorConfig createConfig() {
{ VectorConfig c;
Vector v_x1(2); v_x1(0) = 0.; v_x1(1) = 0.; c.insert("x1", Vector_(2, 0.0, 0.0));
Vector v_x2(2); v_x2(0) = 1.5; v_x2(1) = 0.; c.insert("x2", Vector_(2, 1.5, 0.0));
Vector v_l1(2); v_l1(0) = 0.; v_l1(1) = -1.; c.insert("l1", Vector_(2, 0.0,-1.0));
VectorConfig c; return c;
c.insert("x1", v_x1);
c.insert("x2", v_x2);
c.insert("l1", v_l1);
return c;
} }
/* ************************************************************************* */ /* ************************************************************************* */
boost::shared_ptr<const VectorConfig> sharedNoisyConfig() boost::shared_ptr<const VectorConfig> sharedNoisyConfig() {
{ boost::shared_ptr<VectorConfig> c(new VectorConfig);
Vector v_x1(2); v_x1(0) = 0.1; v_x1(1) = 0.1; c->insert("x1", Vector_(2, 0.1, 0.1));
Vector v_x2(2); v_x2(0) = 1.4; v_x2(1) = 0.2; c->insert("x2", Vector_(2, 1.4, 0.2));
Vector v_l1(2); v_l1(0) = 0.1; v_l1(1) = -1.1; c->insert("l1", Vector_(2, 0.1,-1.1));
boost::shared_ptr<VectorConfig> c(new VectorConfig); return c;
c->insert("x1", v_x1);
c->insert("x2", v_x2);
c->insert("l1", v_l1);
return c;
} }
/* ************************************************************************* */ /* ************************************************************************* */
VectorConfig createNoisyConfig() { VectorConfig createNoisyConfig() { return *sharedNoisyConfig();}
return *sharedNoisyConfig();
}
/* ************************************************************************* */ /* ************************************************************************* */
VectorConfig createCorrectDelta() { VectorConfig createCorrectDelta() {
Vector v_x1(2); v_x1(0) = -0.1; v_x1(1) = -0.1;
Vector v_x2(2); v_x2(0) = 0.1; v_x2(1) = -0.2;
Vector v_l1(2); v_l1(0) = -0.1; v_l1(1) = 0.1;
VectorConfig c; VectorConfig c;
c.insert("x1", v_x1); c.insert("x1", Vector_(2,-0.1,-0.1));
c.insert("x2", v_x2); c.insert("x2", Vector_(2, 0.1,-0.2));
c.insert("l1", v_l1); c.insert("l1", Vector_(2,-0.1, 0.1));
return c; return c;
} }
/* ************************************************************************* */ /* ************************************************************************* */
VectorConfig createZeroDelta() { VectorConfig createZeroDelta() {
Vector v_x1(2); v_x1(0) = 0; v_x1(1) = 0;
Vector v_x2(2); v_x2(0) = 0; v_x2(1) = 0;
Vector v_l1(2); v_l1(0) = 0; v_l1(1) = 0;
VectorConfig c; VectorConfig c;
c.insert("x1", v_x1); c.insert("x1", zero(2));
c.insert("x2", v_x2); c.insert("x2", zero(2));
c.insert("l1", v_l1); c.insert("l1", zero(2));
return c; return c;
} }