diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh index b734f5919..718eee5ea 100644 --- a/.github/scripts/python.sh +++ b/.github/scripts/python.sh @@ -43,46 +43,68 @@ if [ -z ${PYTHON_VERSION+x} ]; then exit 127 fi -PYTHON="python${PYTHON_VERSION}" +export PYTHON="python${PYTHON_VERSION}" -if [[ $(uname) == "Darwin" ]]; then +function install_dependencies() +{ + if [[ $(uname) == "Darwin" ]]; then brew install wget -else + else # Install a system package required by our library sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools -fi + fi -PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin + export PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin -[ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb + [ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb + + $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt +} + +function build() +{ + mkdir $GITHUB_WORKSPACE/build + cd $GITHUB_WORKSPACE/build + + BUILD_PYBIND="ON" + + cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \ + -DGTSAM_BUILD_TESTS=OFF \ + -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \ + -DGTSAM_USE_QUATERNIONS=OFF \ + -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \ + -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ + -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ + -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \ + -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \ + -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \ + -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \ + -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=OFF \ + -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install -BUILD_PYBIND="ON" + # Set to 2 cores so that Actions does not error out during resource provisioning. + make -j2 install -$PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt + cd $GITHUB_WORKSPACE/build/python + $PYTHON -m pip install --user . +} -mkdir $GITHUB_WORKSPACE/build -cd $GITHUB_WORKSPACE/build +function test() +{ + cd $GITHUB_WORKSPACE/python/gtsam/tests + $PYTHON -m unittest discover -v +} -cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \ - -DGTSAM_BUILD_TESTS=OFF \ - -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \ - -DGTSAM_USE_QUATERNIONS=OFF \ - -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \ - -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ - -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \ - -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \ - -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \ - -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \ - -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \ - -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=OFF \ - -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install - - -# Set to 2 cores so that Actions does not error out during resource provisioning. -make -j2 install - -cd $GITHUB_WORKSPACE/build/python -$PYTHON -m pip install --user . -cd $GITHUB_WORKSPACE/python/gtsam/tests -$PYTHON -m unittest discover -v +# select between build or test +case $1 in + -d) + install_dependencies + ;; + -b) + build + ;; + -t) + test + ;; +esac diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml index d391e571c..314e46545 100644 --- a/.github/workflows/build-python.yml +++ b/.github/workflows/build-python.yml @@ -113,11 +113,12 @@ jobs: uses: pierotofy/set-swap-space@master with: swap-size-gb: 6 - - name: Build (Linux) - if: runner.os == 'Linux' + - name: Install Dependencies run: | - bash .github/scripts/python.sh - - name: Build (macOS) - if: runner.os == 'macOS' + bash .github/scripts/python.sh -d + - name: Build run: | - bash .github/scripts/python.sh + bash .github/scripts/python.sh -b + - name: Test + run: | + bash .github/scripts/python.sh -t diff --git a/gtsam/groups.dox b/gtsam/groups.dox index 6031b33bb..6f7124c42 100644 --- a/gtsam/groups.dox +++ b/gtsam/groups.dox @@ -11,4 +11,7 @@ @} -*/ \ No newline at end of file +\defgroup SLAM Useful SLAM components +@{ @} + +*/ diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 213f5f223..54c5a7dbb 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -123,7 +123,7 @@ public: * it is received from the IMU) so as to avoid costly integration at time of * factor construction. * - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType { @@ -252,7 +252,7 @@ public: * the correlation between the bias uncertainty and the preintegrated * measurements uncertainty. * - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_EXPORT CombinedImuFactor: public NoiseModelFactor6 { diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 740827162..c3b398e22 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -66,7 +66,7 @@ typedef ManifoldPreintegration PreintegrationType; * as soon as it is received from the IMU) so as to avoid costly integration * at time of factor construction. * - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType { @@ -165,7 +165,7 @@ public: * (which are usually slowly varying quantities), which is up to the caller. * See also CombinedImuFactor for a class that does this for you. * - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_EXPORT ImuFactor: public NoiseModelFactor5 { @@ -256,7 +256,7 @@ public: /** * ImuFactor2 is a ternary factor that uses NavStates rather than Pose/Velocity. - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_EXPORT ImuFactor2 : public NoiseModelFactor3 { private: diff --git a/gtsam/nonlinear/PriorFactor.h b/gtsam/nonlinear/PriorFactor.h index a490162ac..c5124a3fe 100644 --- a/gtsam/nonlinear/PriorFactor.h +++ b/gtsam/nonlinear/PriorFactor.h @@ -24,7 +24,7 @@ namespace gtsam { /** * A class for a soft prior on any Value type - * @addtogroup SLAM + * @ingroup SLAM */ template class PriorFactor: public NoiseModelFactor1 { diff --git a/gtsam/sam/BearingRangeFactor.h b/gtsam/sam/BearingRangeFactor.h index 9874760c4..c83009651 100644 --- a/gtsam/sam/BearingRangeFactor.h +++ b/gtsam/sam/BearingRangeFactor.h @@ -27,7 +27,7 @@ namespace gtsam { /** * Binary factor for a bearing/range measurement - * @addtogroup SLAM + * @ingroup SLAM */ template ::result_type, diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h index 3b559fe79..a0d6a1207 100644 --- a/gtsam/slam/AntiFactor.h +++ b/gtsam/slam/AntiFactor.h @@ -26,7 +26,7 @@ namespace gtsam { * A class for downdating an existing factor from a graph. The AntiFactor returns the same * linearized Hessian matrices of the original factor, but with the opposite sign. This effectively * cancels out any affects of the original factor during optimization." - * @addtogroup SLAM + * @ingroup SLAM */ class AntiFactor: public NonlinearFactor { diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h index f80462847..fc1dc4481 100644 --- a/gtsam/slam/BetweenFactor.h +++ b/gtsam/slam/BetweenFactor.h @@ -34,7 +34,7 @@ namespace gtsam { /** * A class for a measurement predicted by "between(config[key1],config[key2])" * @tparam VALUE the Value type - * @addtogroup SLAM + * @ingroup SLAM */ template class BetweenFactor: public NoiseModelFactor2 { diff --git a/gtsam/slam/BoundingConstraint.h b/gtsam/slam/BoundingConstraint.h index 3d5842fa2..07c765669 100644 --- a/gtsam/slam/BoundingConstraint.h +++ b/gtsam/slam/BoundingConstraint.h @@ -27,7 +27,7 @@ namespace gtsam { * greater/less than a fixed threshold. The function * will need to have its value function implemented to return * a scalar for comparison. - * @addtogroup SLAM + * @ingroup SLAM */ template struct BoundingConstraint1: public NoiseModelFactor1 { diff --git a/gtsam/slam/EssentialMatrixConstraint.h b/gtsam/slam/EssentialMatrixConstraint.h index 6274be963..91487b522 100644 --- a/gtsam/slam/EssentialMatrixConstraint.h +++ b/gtsam/slam/EssentialMatrixConstraint.h @@ -25,7 +25,7 @@ namespace gtsam { /** * Binary factor between two Pose3 variables induced by an EssentialMatrix measurement - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_EXPORT EssentialMatrixConstraint: public NoiseModelFactor2 { diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index bfc3a0f78..5cf8d5b75 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -54,7 +54,7 @@ namespace gtsam { /** * Non-linear factor for a constraint derived from a 2D measurement. * The calibration is unknown here compared to GenericProjectionFactor - * @addtogroup SLAM + * @ingroup SLAM */ template class GeneralSFMFactor: public NoiseModelFactor2 { diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index 42dba8bd0..e01b9b0b8 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -33,7 +33,7 @@ namespace gtsam { * Non-linear factor for a constraint derived from a 2D measurement. * The calibration is known here. * The main building block for visual SLAM. - * @addtogroup SLAM + * @ingroup SLAM */ template diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h index f4c0c73aa..f1403bdb1 100644 --- a/gtsam/slam/SmartProjectionPoseFactor.h +++ b/gtsam/slam/SmartProjectionPoseFactor.h @@ -24,7 +24,7 @@ namespace gtsam { /** * - * @addtogroup SLAM + * @ingroup SLAM * * If you are using the factor, please cite: * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally @@ -39,7 +39,7 @@ namespace gtsam { * The factor only constrains poses (variable dimension is 6). * This factor requires that values contains the involved poses (Pose3). * If the calibration should be optimized, as well, use SmartProjectionFactor instead! - * @addtogroup SLAM + * @ingroup SLAM */ template class SmartProjectionPoseFactor diff --git a/gtsam/slam/SmartProjectionRigFactor.h b/gtsam/slam/SmartProjectionRigFactor.h index 149c12928..40af55b2c 100644 --- a/gtsam/slam/SmartProjectionRigFactor.h +++ b/gtsam/slam/SmartProjectionRigFactor.h @@ -29,7 +29,7 @@ namespace gtsam { /** * - * @addtogroup SLAM + * @ingroup SLAM * * If you are using the factor, please cite: * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating @@ -46,7 +46,7 @@ namespace gtsam { * calibration (i.e., are from the same camera), use SmartProjectionPoseFactor * instead! If the calibration should be optimized, as well, use * SmartProjectionFactor instead! - * @addtogroup SLAM + * @ingroup SLAM */ template class SmartProjectionRigFactor : public SmartProjectionFactor { diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h index de084c762..b2fdbf7a4 100644 --- a/gtsam/slam/StereoFactor.h +++ b/gtsam/slam/StereoFactor.h @@ -25,7 +25,7 @@ namespace gtsam { /** * A Generic Stereo Factor - * @addtogroup SLAM + * @ingroup SLAM */ template class GenericStereoFactor: public NoiseModelFactor2 { diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h index b6da02d55..405436b82 100644 --- a/gtsam/slam/TriangulationFactor.h +++ b/gtsam/slam/TriangulationFactor.h @@ -27,7 +27,7 @@ namespace gtsam { /** * Non-linear factor for a constraint derived from a 2D measurement. * The calibration and pose are assumed known. - * @addtogroup SLAM + * @ingroup SLAM */ template class TriangulationFactor: public NoiseModelFactor1 { diff --git a/gtsam_unstable/slam/BetweenFactorEM.h b/gtsam_unstable/slam/BetweenFactorEM.h index 9c19bae8c..ffaa05c7d 100644 --- a/gtsam_unstable/slam/BetweenFactorEM.h +++ b/gtsam_unstable/slam/BetweenFactorEM.h @@ -28,7 +28,7 @@ namespace gtsam { /** * A class for a measurement predicted by "between(config[key1],config[key2])" * @tparam VALUE the Value type - * @addtogroup SLAM + * @ingroup SLAM */ template class BetweenFactorEM: public NonlinearFactor { diff --git a/gtsam_unstable/slam/BiasedGPSFactor.h b/gtsam_unstable/slam/BiasedGPSFactor.h index f2e9d3fa8..5359fac4e 100644 --- a/gtsam_unstable/slam/BiasedGPSFactor.h +++ b/gtsam_unstable/slam/BiasedGPSFactor.h @@ -25,7 +25,7 @@ namespace gtsam { /** * A class to model GPS measurements, including a bias term which models * common-mode errors and that can be partially corrected if other sensors are used - * @addtogroup SLAM + * @ingroup SLAM */ class BiasedGPSFactor: public NoiseModelFactor2 { diff --git a/gtsam_unstable/slam/MultiProjectionFactor.h b/gtsam_unstable/slam/MultiProjectionFactor.h index afc9e0b18..bd4f64fd7 100644 --- a/gtsam_unstable/slam/MultiProjectionFactor.h +++ b/gtsam_unstable/slam/MultiProjectionFactor.h @@ -29,7 +29,7 @@ namespace gtsam { /** * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here. * i.e. the main building block for visual SLAM. - * @addtogroup SLAM + * @ingroup SLAM */ template class MultiProjectionFactor: public NoiseModelFactor { diff --git a/gtsam_unstable/slam/PoseBetweenFactor.h b/gtsam_unstable/slam/PoseBetweenFactor.h index a6c583418..a55f3a6e3 100644 --- a/gtsam_unstable/slam/PoseBetweenFactor.h +++ b/gtsam_unstable/slam/PoseBetweenFactor.h @@ -26,7 +26,7 @@ namespace gtsam { /** * A class for a measurement predicted by "between(config[key1],config[key2])" * @tparam POSE the Pose type - * @addtogroup SLAM + * @ingroup SLAM */ template class PoseBetweenFactor: public NoiseModelFactor2 { diff --git a/gtsam_unstable/slam/PosePriorFactor.h b/gtsam_unstable/slam/PosePriorFactor.h index f657fc443..6668a9b4b 100644 --- a/gtsam_unstable/slam/PosePriorFactor.h +++ b/gtsam_unstable/slam/PosePriorFactor.h @@ -23,7 +23,7 @@ namespace gtsam { /** * A class for a soft prior on any Value type - * @addtogroup SLAM + * @ingroup SLAM */ template class PosePriorFactor: public NoiseModelFactor1 { diff --git a/gtsam_unstable/slam/PoseToPointFactor.h b/gtsam_unstable/slam/PoseToPointFactor.h index b9b2ad5ce..071d13aec 100644 --- a/gtsam_unstable/slam/PoseToPointFactor.h +++ b/gtsam_unstable/slam/PoseToPointFactor.h @@ -18,7 +18,7 @@ namespace gtsam { /** * A class for a measurement between a pose and a point. - * @addtogroup SLAM + * @ingroup SLAM */ template class PoseToPointFactor : public NoiseModelFactor2 { diff --git a/gtsam_unstable/slam/ProjectionFactorPPP.h b/gtsam_unstable/slam/ProjectionFactorPPP.h index 84adda707..41f79d614 100644 --- a/gtsam_unstable/slam/ProjectionFactorPPP.h +++ b/gtsam_unstable/slam/ProjectionFactorPPP.h @@ -28,7 +28,7 @@ namespace gtsam { /** * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here. * i.e. the main building block for visual SLAM. - * @addtogroup SLAM + * @ingroup SLAM */ template class ProjectionFactorPPP: public NoiseModelFactor3 { diff --git a/gtsam_unstable/slam/ProjectionFactorPPPC.h b/gtsam_unstable/slam/ProjectionFactorPPPC.h index 18ee13b9a..ec0a426f9 100644 --- a/gtsam_unstable/slam/ProjectionFactorPPPC.h +++ b/gtsam_unstable/slam/ProjectionFactorPPPC.h @@ -30,7 +30,7 @@ namespace gtsam { /** * Non-linear factor for a constraint derived from a 2D measurement. This factor * estimates the body pose, body-camera transform, 3D landmark, and calibration. - * @addtogroup SLAM + * @ingroup SLAM */ template class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC diff --git a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h index 2aeaa4824..c349fd095 100644 --- a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h +++ b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h @@ -38,7 +38,7 @@ namespace gtsam { * define the alpha = (t_p - t_A) / (t_B - t_A), we will use the pose * interpolated between A and B by the alpha to project the corresponding * landmark to Point2. - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_UNSTABLE_EXPORT ProjectionFactorRollingShutter diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h index ff84fcd16..b2f58f75f 100644 --- a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h +++ b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h @@ -25,7 +25,7 @@ namespace gtsam { /** * - * @addtogroup SLAM + * @ingroup SLAM * * If you are using the factor, please cite: * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, @@ -39,7 +39,7 @@ namespace gtsam { * shutter model of the camera with given readout time. The factor requires that * values contain (for each pixel observation) two consecutive camera poses from * which the pixel observation pose can be interpolated. - * @addtogroup SLAM + * @ingroup SLAM */ template class GTSAM_UNSTABLE_EXPORT SmartProjectionPoseFactorRollingShutter diff --git a/gtsam_unstable/slam/SmartRangeFactor.h b/gtsam_unstable/slam/SmartRangeFactor.h index 14e97f6bc..8a2a1d3a8 100644 --- a/gtsam_unstable/slam/SmartRangeFactor.h +++ b/gtsam_unstable/slam/SmartRangeFactor.h @@ -24,7 +24,7 @@ namespace gtsam { /** * Smart factor for range SLAM - * @addtogroup SLAM + * @ingroup SLAM */ class SmartRangeFactor: public NoiseModelFactor { protected: diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h index e20241a0e..e1bc01691 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h +++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h @@ -23,7 +23,7 @@ namespace gtsam { /** * - * @addtogroup SLAM + * @ingroup SLAM * * If you are using the factor, please cite: * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, @@ -38,7 +38,7 @@ namespace gtsam { * calibration or the same calibration can be shared by multiple cameras. This * factor requires that values contain the involved poses and extrinsics (both * are Pose3 variables). - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor { diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h index a46000a68..9e83b7736 100644 --- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h +++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h @@ -26,7 +26,7 @@ namespace gtsam { /** * - * @addtogroup SLAM + * @ingroup SLAM * * If you are using the factor, please cite: * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, @@ -41,7 +41,7 @@ namespace gtsam { * has its own calibration. * The factor only constrains poses (variable dimension is 6). * This factor requires that values contains the involved poses (Pose3). - * @addtogroup SLAM + * @ingroup SLAM */ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionPoseFactor : public SmartStereoProjectionFactor { diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h index 956c75999..80d2abf9b 100644 --- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h +++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h @@ -29,7 +29,7 @@ namespace gtsam { /** * A class for a measurement predicted by "between(config[key1],config[key2])" * @tparam VALUE the Value type - * @addtogroup SLAM + * @ingroup SLAM */ template class TransformBtwRobotsUnaryFactor: public NonlinearFactor { // TODO why not NoiseModelFactor1 ? diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h index 2b2edfae9..cce18cc44 100644 --- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h +++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h @@ -31,7 +31,7 @@ namespace gtsam { /** * A class for a measurement predicted by "between(config[key1],config[key2])" * @tparam VALUE the Value type - * @addtogroup SLAM + * @ingroup SLAM */ template class TransformBtwRobotsUnaryFactorEM: public NonlinearFactor {