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remove trailing spaces

release/4.3a0
Duy-Nguyen Ta 2019-02-11 09:39:48 -05:00
parent c84496632f
commit 1cdc228d6a
361 changed files with 1037 additions and 1037 deletions
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2
CppUnitLite/Failure.h
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@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

14
CppUnitLite/Test.cpp
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@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -36,7 +36,7 @@ Test *Test::getNext() const
}
void Test::setNext(Test *test)
{
{
next_ = test;
}
@ -46,9 +46,9 @@ bool Test::check(long expected, long actual, TestResult& result, const std::stri
return true;
result.addFailure (
Failure (
name_,
name_,
boost::lexical_cast<std::string> (__FILE__),
__LINE__,
__LINE__,
boost::lexical_cast<std::string> (expected),
boost::lexical_cast<std::string> (actual)));
@ -63,10 +63,10 @@ bool Test::check(const std::string& expected, const std::string& actual, TestRes
return true;
result.addFailure (
Failure (
name_,
name_,
boost::lexical_cast<std::string> (__FILE__),
__LINE__,
expected,
__LINE__,
expected,
actual));
return false;

6
CppUnitLite/Test.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -12,7 +12,7 @@
///////////////////////////////////////////////////////////////////////////////
//
// TEST.H
//
//
// This file contains the Test class along with the macros which make effective
// in the harness.
//
@ -66,7 +66,7 @@ protected:
virtual ~testGroup##testName##Test () {};\
void run (TestResult& result_);} \
testGroup##testName##Instance; \
void testGroup##testName##Test::run (TestResult& result_)
void testGroup##testName##Test::run (TestResult& result_)
/**
* Declare friend in a class to test its private methods

4
CppUnitLite/TestHarness.h
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@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -12,7 +12,7 @@
///////////////////////////////////////////////////////////////////////////////
//
// TESTHARNESS.H
//
//
// The primary include file for the framework.
//
///////////////////////////////////////////////////////////////////////////////

12
CppUnitLite/TestRegistry.cpp
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@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -18,26 +18,26 @@
#include "TestResult.h"
#include "TestRegistry.h"
void TestRegistry::addTest (Test *test)
void TestRegistry::addTest (Test *test)
{
instance ().add (test);
}
int TestRegistry::runAllTests (TestResult& result)
int TestRegistry::runAllTests (TestResult& result)
{
return instance ().run (result);
}
TestRegistry& TestRegistry::instance ()
TestRegistry& TestRegistry::instance ()
{
static TestRegistry registry;
return registry;
}
void TestRegistry::add (Test *test)
void TestRegistry::add (Test *test)
{
if (tests == 0) {
test->setNext(0);
@ -52,7 +52,7 @@ void TestRegistry::add (Test *test)
}
int TestRegistry::run (TestResult& result)
int TestRegistry::run (TestResult& result)
{
result.testsStarted ();

10
CppUnitLite/TestRegistry.h
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@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -12,9 +12,9 @@
///////////////////////////////////////////////////////////////////////////////
//
// TESTREGISTRY.H
//
// TestRegistry is a singleton collection of all the tests to run in a system.
//
//
// TestRegistry is a singleton collection of all the tests to run in a system.
//
///////////////////////////////////////////////////////////////////////////////
#ifndef TESTREGISTRY_H
@ -38,7 +38,7 @@ private:
void add (Test *test);
int run (TestResult& result);
Test *tests;
Test *lastTest;

8
CppUnitLite/TestResult.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -22,12 +22,12 @@ TestResult::TestResult ()
}
void TestResult::testsStarted ()
void TestResult::testsStarted ()
{
}
void TestResult::addFailure (const Failure& failure)
void TestResult::addFailure (const Failure& failure)
{
if (failure.lineNumber < 0) // allow for no line number
fprintf (stdout, "%s%s%s%s\n",
@ -48,7 +48,7 @@ void TestResult::addFailure (const Failure& failure)
}
void TestResult::testsEnded ()
void TestResult::testsEnded ()
{
if (failureCount > 0)
fprintf (stdout, "There were %d failures\n", failureCount);

10
CppUnitLite/TestResult.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -12,10 +12,10 @@
///////////////////////////////////////////////////////////////////////////////
//
// TESTRESULT.H
//
//
// A TestResult is a collection of the history of some test runs. Right now
// it just collects failures.
//
//
///////////////////////////////////////////////////////////////////////////////
#ifndef TESTRESULT_H
@ -26,12 +26,12 @@ class Failure;
class TestResult
{
public:
TestResult ();
TestResult ();
virtual ~TestResult() {};
virtual void testsStarted ();
virtual void addFailure (const Failure& failure);
virtual void testsEnded ();
int getFailureCount() {return failureCount;}
private:

14
cython/gtsam_eigency/eigency_cpp.h
View File

@ -35,7 +35,7 @@ inline PyArrayObject *_ndarray_view<double>(double *data, long rows, long cols,
return ndarray_double_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
} else {
// Eigen column-major mode: row_stride=outer_stride, and col_stride=inner_stride
// If no stride is given, the cow_stride is set to the number of rows.
// If no stride is given, the cow_stride is set to the number of rows.
return ndarray_double_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
}
}
@ -355,7 +355,7 @@ public:
FlattenedMap()
: Base(NULL, 0, 0),
object_(NULL) {}
FlattenedMap(Scalar *data, long rows, long cols, long outer_stride=0, long inner_stride=0)
: Base(data, rows, cols,
Eigen::Stride<_StrideOuter, _StrideInner>(outer_stride, inner_stride)),
@ -363,7 +363,7 @@ public:
}
FlattenedMap(PyArrayObject *object)
: Base((Scalar *)((PyArrayObject*)object)->data,
: Base((Scalar *)((PyArrayObject*)object)->data,
// : Base(_from_numpy<Scalar>((PyArrayObject*)object),
(((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[0] : 1,
(((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[1] : ((PyArrayObject*)object)->dimensions[0],
@ -390,7 +390,7 @@ public:
return *this;
}
operator Base() const {
return static_cast<Base>(*this);
}
@ -429,7 +429,7 @@ public:
(ColsAtCompileTime == Eigen::Dynamic) ? 0 : ColsAtCompileTime),
object_(NULL) {
}
Map(Scalar *data, long rows, long cols)
: Base(data, rows, cols),
object_(NULL) {}
@ -456,7 +456,7 @@ public:
throw std::invalid_argument("Numpy array must be a in one contiguous segment to be able to be transferred to a Eigen Map.");
Py_XINCREF(object_);
}
Map &operator=(const Map &other) {
if (other.object_) {
new (this) Map(other.object_);
@ -474,7 +474,7 @@ public:
MapBase<MatrixType>::operator=(other);
return *this;
}
operator Base() const {
return static_cast<Base>(*this);
}

2
doc/Code/LocalizationExample2.cpp
View File

@ -1,5 +1,5 @@
// add unary measurement factors, like GPS, on all three poses
noiseModel::Diagonal::shared_ptr unaryNoise =
noiseModel::Diagonal::shared_ptr unaryNoise =
noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.1)); // 10cm std on x,y
graph.add(boost::make_shared<UnaryFactor>(1, 0.0, 0.0, unaryNoise));
graph.add(boost::make_shared<UnaryFactor>(2, 2.0, 0.0, unaryNoise));

2
doc/Code/LocalizationFactor.cpp
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@ -5,7 +5,7 @@ public:
UnaryFactor(Key j, double x, double y, const SharedNoiseModel& model):
NoiseModelFactor1<Pose2>(model, j), mx_(x), my_(y) {}
Vector evaluateError(const Pose2& q,
Vector evaluateError(const Pose2& q,
boost::optional<Matrix&> H = boost::none) const
{
if (H) (*H) = (Matrix(2,3)<< 1.0,0.0,0.0, 0.0,1.0,0.0).finished();

4
doc/Code/OdometryExample.cpp
View File

@ -3,13 +3,13 @@ NonlinearFactorGraph graph;
// Add a Gaussian prior on pose x_1
Pose2 priorMean(0.0, 0.0, 0.0);
noiseModel::Diagonal::shared_ptr priorNoise =
noiseModel::Diagonal::shared_ptr priorNoise =
noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
graph.add(PriorFactor<Pose2>(1, priorMean, priorNoise));
// Add two odometry factors
Pose2 odometry(2.0, 0.0, 0.0);
noiseModel::Diagonal::shared_ptr odometryNoise =
noiseModel::Diagonal::shared_ptr odometryNoise =
noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
graph.add(BetweenFactor<Pose2>(1, 2, odometry, odometryNoise));
graph.add(BetweenFactor<Pose2>(2, 3, odometry, odometryNoise));

4
doc/Code/Pose2SLAMExample.cpp
View File

@ -1,10 +1,10 @@
NonlinearFactorGraph graph;
noiseModel::Diagonal::shared_ptr priorNoise =
noiseModel::Diagonal::shared_ptr priorNoise =
noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
graph.add(PriorFactor<Pose2>(1, Pose2(0, 0, 0), priorNoise));
// Add odometry factors
noiseModel::Diagonal::shared_ptr model =
noiseModel::Diagonal::shared_ptr model =
noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
graph.add(BetweenFactor<Pose2>(1, 2, Pose2(2, 0, 0 ), model));
graph.add(BetweenFactor<Pose2>(2, 3, Pose2(2, 0, M_PI_2), model));

2
examples/CameraResectioning.cpp
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@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
examples/DiscreteBayesNet_FG.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

18
examples/ImuFactorsExample.cpp
View File

@ -91,7 +91,7 @@ int main(int argc, char* argv[])
cout << "initial state:\n" << initial_state.transpose() << "\n\n";
// Assemble initial quaternion through gtsam constructor ::quaternion(w,x,y,z);
Rot3 prior_rotation = Rot3::Quaternion(initial_state(6), initial_state(3),
Rot3 prior_rotation = Rot3::Quaternion(initial_state(6), initial_state(3),
initial_state(4), initial_state(5));
Point3 prior_point(initial_state.head<3>());
Pose3 prior_pose(prior_rotation, prior_point);
@ -102,7 +102,7 @@ int main(int argc, char* argv[])
int correction_count = 0;
initial_values.insert(X(correction_count), prior_pose);
initial_values.insert(V(correction_count), prior_velocity);
initial_values.insert(B(correction_count), prior_imu_bias);
initial_values.insert(B(correction_count), prior_imu_bias);
// Assemble prior noise model and add it the graph.
noiseModel::Diagonal::shared_ptr pose_noise_model = noiseModel::Diagonal::Sigmas((Vector(6) << 0.01, 0.01, 0.01, 0.5, 0.5, 0.5).finished()); // rad,rad,rad,m, m, m
@ -138,7 +138,7 @@ int main(int argc, char* argv[])
p->biasAccCovariance = bias_acc_cov; // acc bias in continuous
p->biasOmegaCovariance = bias_omega_cov; // gyro bias in continuous
p->biasAccOmegaInt = bias_acc_omega_int;
#ifdef USE_COMBINED
imu_preintegrated_ = new PreintegratedCombinedMeasurements(p, prior_imu_bias);
#else
@ -154,7 +154,7 @@ int main(int argc, char* argv[])
double current_position_error = 0.0, current_orientation_error = 0.0;
double output_time = 0.0;
double dt = 0.005; // The real system has noise, but here, results are nearly
double dt = 0.005; // The real system has noise, but here, results are nearly
// exactly the same, so keeping this for simplicity.
// All priors have been set up, now iterate through the data file.
@ -203,8 +203,8 @@ int main(int argc, char* argv[])
*preint_imu);
graph->add(imu_factor);
imuBias::ConstantBias zero_bias(Vector3(0, 0, 0), Vector3(0, 0, 0));
graph->add(BetweenFactor<imuBias::ConstantBias>(B(correction_count-1),
B(correction_count ),
graph->add(BetweenFactor<imuBias::ConstantBias>(B(correction_count-1),
B(correction_count ),
zero_bias, bias_noise_model));
#endif
@ -215,7 +215,7 @@ int main(int argc, char* argv[])
gps(2)), // D,
correction_noise);
graph->add(gps_factor);
// Now optimize and compare results.
prop_state = imu_preintegrated_->predict(prev_state, prev_bias);
initial_values.insert(X(correction_count), prop_state.pose());
@ -250,10 +250,10 @@ int main(int argc, char* argv[])
// display statistics
cout << "Position error:" << current_position_error << "\t " << "Angular error:" << current_orientation_error << "\n";
fprintf(fp_out, "%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n",
fprintf(fp_out, "%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n",
output_time, gtsam_position(0), gtsam_position(1), gtsam_position(2),
gtsam_quat.x(), gtsam_quat.y(), gtsam_quat.z(), gtsam_quat.w(),
gps(0), gps(1), gps(2),
gps(0), gps(1), gps(2),
gps_quat.x(), gps_quat.y(), gps_quat.z(), gps_quat.w());
output_time += 1.0;

2
examples/LocalizationExample.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
examples/METISOrderingExample.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
examples/OdometryExample.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
examples/PlanarSLAMExample.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

32
examples/Pose3SLAMExampleExpressions_BearingRangeWithTransform.cpp
View File

@ -34,47 +34,47 @@ int main(int argc, char* argv[]) {
// Concatenate poses to create trajectory
poses.insert( poses.end(), poses2.begin(), poses2.end() );
poses.insert( poses.end(), poses3.begin(), poses3.end() ); // std::vector of Pose3
auto points = createPoints(); // std::vector of Point3
auto points = createPoints(); // std::vector of Point3
// (ground-truth) sensor pose in body frame, further an unknown variable
Pose3 body_T_sensor_gt(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
// The graph
ExpressionFactorGraph graph;
// Specify uncertainty on first pose prior and also for between factor (simplicity reasons)
auto poseNoise = noiseModel::Diagonal::Sigmas((Vector(6)<<0.3,0.3,0.3,0.1,0.1,0.1).finished());
// Uncertainty bearing range measurement;
auto bearingRangeNoise = noiseModel::Diagonal::Sigmas((Vector(3)<<0.01,0.03,0.05).finished());
// Expressions for body-frame at key 0 and sensor-tf
Pose3_ x_('x', 0);
Pose3_ body_T_sensor_('T', 0);
// Add a prior on the body-pose
graph.addExpressionFactor(x_, poses[0], poseNoise);
graph.addExpressionFactor(x_, poses[0], poseNoise);
// Simulated measurements from pose
for (size_t i = 0; i < poses.size(); ++i) {
auto world_T_sensor = poses[i].compose(body_T_sensor_gt);
for (size_t j = 0; j < points.size(); ++j) {
// This expression is the key feature of this example: it creates a differentiable expression of the measurement after being displaced by sensor transform.
auto prediction_ = Expression<BearingRange3D>( BearingRange3D::Measure, Pose3_('x',i)*body_T_sensor_, Point3_('l',j));
// Create a *perfect* measurement
auto measurement = BearingRange3D(world_T_sensor.bearing(points[j]), world_T_sensor.range(points[j]));
// Add factor
graph.addExpressionFactor(prediction_, measurement, bearingRangeNoise);
}
// and add a between factor to the graph
if (i > 0)
{
// And also we have a *perfect* measurement for the between factor.
graph.addExpressionFactor(between(Pose3_('x', i-1),Pose3_('x', i)), poses[i-1].between(poses[i]), poseNoise);
graph.addExpressionFactor(between(Pose3_('x', i-1),Pose3_('x', i)), poses[i-1].between(poses[i]), poseNoise);
}
}
@ -82,12 +82,12 @@ int main(int argc, char* argv[]) {
Values initial;
Pose3 delta(Rot3::Rodrigues(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20));
for (size_t i = 0; i < poses.size(); ++i)
initial.insert(Symbol('x', i), poses[i].compose(delta));
initial.insert(Symbol('x', i), poses[i].compose(delta));
for (size_t j = 0; j < points.size(); ++j)
initial.insert<Point3>(Symbol('l', j), points[j] + Point3(-0.25, 0.20, 0.15));
// Initialize body_T_sensor wrongly (because we do not know!)
initial.insert<Pose3>(Symbol('T',0), Pose3());
initial.insert<Pose3>(Symbol('T',0), Pose3());
std::cout << "initial error: " << graph.error(initial) << std::endl;
Values result = LevenbergMarquardtOptimizer(graph, initial).optimize();

6
examples/SFMdata.h
View File

@ -52,9 +52,9 @@ std::vector<gtsam::Point3> createPoints() {
/* ************************************************************************* */
std::vector<gtsam::Pose3> createPoses(
const gtsam::Pose3& init = gtsam::Pose3(gtsam::Rot3::Ypr(M_PI/2,0,-M_PI/2), gtsam::Point3(30, 0, 0)),
const gtsam::Pose3& delta = gtsam::Pose3(gtsam::Rot3::Ypr(0,-M_PI/4,0), gtsam::Point3(sin(M_PI/4)*30, 0, 30*(1-sin(M_PI/4)))),
const gtsam::Pose3& delta = gtsam::Pose3(gtsam::Rot3::Ypr(0,-M_PI/4,0), gtsam::Point3(sin(M_PI/4)*30, 0, 30*(1-sin(M_PI/4)))),
int steps = 8) {
// Create the set of ground-truth poses
// Default values give a circular trajectory, radius 30 at pi/4 intervals, always facing the circle center
std::vector<gtsam::Pose3> poses;
@ -63,6 +63,6 @@ std::vector<gtsam::Pose3> createPoses(
for(; i < steps; ++i) {
poses.push_back(poses[i-1].compose(delta));
}
return poses;
}

2
examples/SimpleRotation.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
examples/SolverComparer.cpp
View File

@ -361,7 +361,7 @@ void runIncremental()
const auto& measured = factor->measured();
Rot2 measuredBearing = measured.bearing();
double measuredRange = measured.range();
newVariables.insert(lmKey,
newVariables.insert(lmKey,
pose.transform_from(measuredBearing.rotate(Point2(measuredRange, 0.0))));
}
}

4
examples/StereoVOExample.cpp
View File

@ -22,7 +22,7 @@
* -moves forward 1 meter
* -takes stereo readings on three landmarks
*/
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Cal3_S2Stereo.h>
#include <gtsam/nonlinear/Values.h>
@ -40,7 +40,7 @@ int main(int argc, char** argv){
NonlinearFactorGraph graph;
Pose3 first_pose;
graph.emplace_shared<NonlinearEquality<Pose3> >(1, Pose3());
//create factor noise model with 3 sigmas of value 1
const noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,1);
//create stereo camera calibration object with .2m between cameras

6
examples/StereoVOExample_large.cpp
View File

@ -50,7 +50,7 @@ int main(int argc, char** argv){
string calibration_loc = findExampleDataFile("VO_calibration.txt");
string pose_loc = findExampleDataFile("VO_camera_poses_large.txt");
string factor_loc = findExampleDataFile("VO_stereo_factors_large.txt");
//read camera calibration info from file
// focal lengths fx, fy, skew s, principal point u0, v0, baseline b
double fx, fy, s, u0, v0, b;
@ -60,7 +60,7 @@ int main(int argc, char** argv){
//create stereo camera calibration object
const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fx,fy,s,u0,v0,b));
ifstream pose_file(pose_loc.c_str());
cout << "Reading camera poses" << endl;
int pose_id;
@ -72,7 +72,7 @@ int main(int argc, char** argv){
}
initial_estimate.insert(Symbol('x', pose_id), Pose3(m));
}
// camera and landmark keys
size_t x, l;

2
examples/UGM_chain.cpp
View File

@ -36,7 +36,7 @@ int main(int argc, char** argv) {
// Each node takes 1 of 7 possible states denoted by 0-6 in following order:
// ["VideoGames" "Industry" "GradSchool" "VideoGames(with PhD)"
// "Industry(with PhD)" "Academia" "Deceased"]
// "Industry(with PhD)" "Academia" "Deceased"]
const size_t nrStates = 7;
// define variables

2
examples/UGM_small.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
examples/easyPoint2KalmanFilter.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
examples/elaboratePoint2KalmanFilter.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/DSFVector.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/DSFVector.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/LieMatrix.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/LieScalar.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/LieVector.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

4
gtsam/base/Manifold.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -170,7 +170,7 @@ struct FixedDimension {
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
/// Helper class to construct the product manifold of two other manifolds, M1 and M2
/// Deprecated because of limited usefulness, maximum obfuscation
/// Deprecated because of limited usefulness, maximum obfuscation
template<typename M1, typename M2>
class ProductManifold: public std::pair<M1, M2> {
BOOST_CONCEPT_ASSERT((IsManifold<M1>));

4
gtsam/base/Matrix.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -540,7 +540,7 @@ Matrix cholesky_inverse(const Matrix &A)
}
/* ************************************************************************* */
// Semantics:
// Semantics:
// if B = inverse_square_root(A), then all of the following are true:
// inv(B) * inv(B)' == A
// inv(B' * B) == A

2
gtsam/base/OptionalJacobian.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/ProductLieGroup.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/TestableAssertions.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/ThreadsafeException.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/Value.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/Vector.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/VerticalBlockMatrix.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/VerticalBlockMatrix.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/deprecated/LieMatrix.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/deprecated/LieScalar.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

4
gtsam/base/deprecated/LieVector.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -36,7 +36,7 @@ struct GTSAM_EXPORT LieVector : public Vector {
/** initialize from a normal vector */
LieVector(const Vector& v) : Vector(v) {}
template <class V>
LieVector(const V& v) : Vector(v) {}

2
gtsam/base/lieProxies.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/serialization.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/tests/testDSFVector.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/tests/testGroup.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/tests/testLieMatrix.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/tests/testLieScalar.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/tests/testLieVector.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

4
gtsam/base/tests/testMatrix.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -275,7 +275,7 @@ TEST(Matrix, stream_read ) {
-0.3, -8e-2, 5.1, 9.0,
1.2, 3.4, 4.5, 6.7).finished();
string matrixAsString =
string matrixAsString =
"1.1 2.3 4.2 7.6\n"
"-0.3 -8e-2 5.1 9.0\n\r" // Test extra spaces and windows newlines
"1.2 \t 3.4 4.5 6.7"; // Test tab as separator

2
gtsam/base/tests/testOptionalJacobian.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/tests/testVector.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/timing.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/base/timing.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/discrete/DecisionTree-inl.h
View File

@ -355,7 +355,7 @@ namespace gtsam {
NodePtr choose(const L& label, size_t index) const {
if (label_ == label)
return branches_[index]; // choose branch
// second case, not label of interest, just recurse
boost::shared_ptr<Choice> r(new Choice(label_, branches_.size()));
for(const NodePtr& branch: branches_)

2
gtsam/discrete/DiscreteBayesTree.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/discrete/DiscreteEliminationTree.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

4
gtsam/discrete/DiscreteEliminationTree.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -31,7 +31,7 @@ namespace gtsam {
typedef EliminationTree<DiscreteBayesNet, DiscreteFactorGraph> Base; ///< Base class
typedef DiscreteEliminationTree This; ///< This class
typedef boost::shared_ptr<This> shared_ptr; ///< Shared pointer to this class
/**
* Build the elimination tree of a factor graph using pre-computed column structure.
* @param factorGraph The factor graph for which to build the elimination tree

2
gtsam/discrete/DiscreteJunctionTree.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

4
gtsam/discrete/DiscreteJunctionTree.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -51,7 +51,7 @@ namespace gtsam {
typedef JunctionTree<DiscreteBayesTree, DiscreteFactorGraph> Base; ///< Base class
typedef DiscreteJunctionTree This; ///< This class
typedef boost::shared_ptr<This> shared_ptr; ///< Shared pointer to this class
/**
* Build the elimination tree of a factor graph using precomputed column structure.
* @param factorGraph The factor graph for which to build the elimination tree

2
gtsam/discrete/DiscreteMarginals.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/Cal3_S2.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/Cal3_S2.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/Cal3_S2Stereo.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/Cal3_S2Stereo.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/Cyclic.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/Cyclic.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/PinholePose.h
View File

@ -220,7 +220,7 @@ private:
& boost::serialization::make_nvp("PinholeBase",
boost::serialization::base_object<PinholeBase>(*this));
}
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

6
gtsam/geometry/PinholeSet.h
View File

@ -1,12 +1,12 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**

2
gtsam/geometry/Quaternion.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/Rot2.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/Rot2.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/SimpleCamera.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/SimpleCamera.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/StereoCamera.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/StereoPoint2.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/StereoPoint2.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/tests/testCal3_S2.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/tests/testCyclic.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/tests/testPose2.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/tests/testQuaternion.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/tests/testRot2.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/tests/testRot3M.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/geometry/tests/testRot3Q.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

4
gtsam/geometry/tests/testSerializationGeometry.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -11,7 +11,7 @@
/**
* @file testSerializationGeometry.cpp
* @brief
* @brief
* @author Richard Roberts
* @date Feb 7, 2012
*/

2
gtsam/geometry/triangulation.h
View File

@ -65,7 +65,7 @@ GTSAM_EXPORT Vector4 triangulateHomogeneousDLT(
*/
GTSAM_EXPORT Point3 triangulateDLT(
const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& projection_matrices,
const Point2Vector& measurements,
const Point2Vector& measurements,
double rank_tol = 1e-9);
/**

2
gtsam/global_includes.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/inference/BayesNet.h
View File

@ -65,7 +65,7 @@ namespace gtsam {
/// @name Standard Interface
/// @{
void saveGraph(const std::string &s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
};

2
gtsam/inference/BayesTree-inst.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

2
gtsam/inference/BayesTree.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

6
gtsam/inference/BayesTree.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -96,7 +96,7 @@ namespace gtsam {
/** Root cliques */
typedef FastVector<sharedClique> Roots;
/** Root cliques */
Roots roots_;
@ -190,7 +190,7 @@ namespace gtsam {
/// @}
/// @name Advanced Interface
/// @{
/**
* Find parent clique of a conditional. It will look at all parents and
* return the one with the lowest index in the ordering.

2
gtsam/inference/Conditional-inst.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)

8
gtsam/inference/Conditional.h
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -75,7 +75,7 @@ namespace gtsam {
bool equals(const This& c, double tol = 1e-9) const;
/// @}
public:
/// @name Standard Interface
/// @{
@ -102,10 +102,10 @@ namespace gtsam {
/** Iterator pointing to first frontal key. */
typename FACTOR::const_iterator beginFrontals() const { return asFactor().begin(); }
/** Iterator pointing past the last frontal key. */
typename FACTOR::const_iterator endFrontals() const { return asFactor().begin() + nrFrontals_; }
/** Iterator pointing to the first parent key. */
typename FACTOR::const_iterator beginParents() const { return endFrontals(); }

14
gtsam/inference/EliminateableFactorGraph.h
View File

@ -99,7 +99,7 @@ namespace gtsam {
/** Do sequential elimination of all variables to produce a Bayes net. If an ordering is not
* provided, the ordering provided by COLAMD will be used.
*
*
* <b> Example - Full Cholesky elimination in COLAMD order: </b>
* \code
* boost::shared_ptr<GaussianBayesNet> result = graph.eliminateSequential(EliminateCholesky);
@ -108,12 +108,12 @@ namespace gtsam {
* <b> Example - METIS ordering for elimination
* \code
* boost::shared_ptr<GaussianBayesNet> result = graph.eliminateSequential(OrderingType::METIS);
*
*
* <b> Example - Full QR elimination in specified order:
* \code
* boost::shared_ptr<GaussianBayesNet> result = graph.eliminateSequential(EliminateQR, myOrdering);
* \endcode
*
*
* <b> Example - Reusing an existing VariableIndex to improve performance, and using COLAMD ordering: </b>
* \code
* VariableIndex varIndex(graph); // Build variable index
@ -130,17 +130,17 @@ namespace gtsam {
/** Do multifrontal elimination of all variables to produce a Bayes tree. If an ordering is not
* provided, the ordering will be computed using either COLAMD or METIS, dependeing on
* the parameter orderingType (Ordering::COLAMD or Ordering::METIS)
*
*
* <b> Example - Full Cholesky elimination in COLAMD order: </b>
* \code
* boost::shared_ptr<GaussianBayesTree> result = graph.eliminateMultifrontal(EliminateCholesky);
* \endcode
*
*
* <b> Example - Full QR elimination in specified order:
* \code
* boost::shared_ptr<GaussianBayesTree> result = graph.eliminateMultifrontal(EliminateQR, myOrdering);
* \endcode
*
*
* <b> Example - Reusing an existing VariableIndex to improve performance, and using COLAMD ordering: </b>
* \code
* VariableIndex varIndex(graph); // Build variable index
@ -183,7 +183,7 @@ namespace gtsam {
const Ordering& ordering,
const Eliminate& function = EliminationTraitsType::DefaultEliminate,
OptionalVariableIndex variableIndex = boost::none) const;
/** Do multifrontal elimination of the given \c variables in an ordering computed by COLAMD to
* produce a Bayes net and a remaining factor graph. This computes the factorization \f$ p(X)
* = p(A|B) p(B) \f$, where \f$ A = \f$ \c variables, \f$ X \f$ is all the variables in the

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