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added measured function

release/4.3a0
Kai Ni 2010-03-02 21:43:39 +00:00
parent 190e87afb9
commit 23986349de
1 changed files with 10 additions and 0 deletions
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10
cpp/planarSLAM.h
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@ -46,6 +46,11 @@ namespace gtsam {
Rot2 hx = bearing(pose, point, H1, H2); Rot2 hx = bearing(pose, point, H1, H2);
return logmap(between(z_, hx)); return logmap(between(z_, hx));
} }
/** return the measured */
inline const Rot2 measured() const {
return z_;
}
}; // BearingFactor }; // BearingFactor
/** /**
@ -75,6 +80,11 @@ namespace gtsam {
double hx = gtsam::range(pose, point, H1, H2); double hx = gtsam::range(pose, point, H1, H2);
return Vector_(1, hx - z_); return Vector_(1, hx - z_);
} }
/** return the measured */
inline const double measured() const {
return z_;
}
}; // RangeFactor }; // RangeFactor
// Use planarSLAM namespace for specific SLAM instance // Use planarSLAM namespace for specific SLAM instance