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add new type for vector of Rot3's

release/4.3a0
John Lambert 2022-01-26 17:56:23 -07:00 committed by GitHub
parent 055e027632
commit 20622c2579
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1 changed files with 9 additions and 1 deletions
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10
gtsam/slam/slam.i
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@ -322,7 +322,15 @@ template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
virtual class KarcherMeanFactor : gtsam::NonlinearFactor { virtual class KarcherMeanFactor : gtsam::NonlinearFactor {
KarcherMeanFactor(const gtsam::KeyVector& keys); KarcherMeanFactor(const gtsam::KeyVector& keys);
}; };
const gtsam::Rot3 FindKarcherMean<gtsam::Rot3>(const std::vector<gtsam::Rot3>& rotations);
class Rot3Vector {
Rot3Vector();
// structure specific methods
gtsam::Rot3 at(size_t i) const;
void push_back(const gtsam::Rot3& R);
};
const gtsam::Rot3 FindKarcherMean<gtsam::Rot3>(const Rot3Vector& rotations);
#include <gtsam/slam/FrobeniusFactor.h> #include <gtsam/slam/FrobeniusFactor.h>
gtsam::noiseModel::Isotropic* ConvertNoiseModel(gtsam::noiseModel::Base* model, gtsam::noiseModel::Isotropic* ConvertNoiseModel(gtsam::noiseModel::Base* model,