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Added new constructors for PlanarSLAM graphs

release/4.3a0
Alex Cunningham 2010-07-30 17:07:10 +00:00
parent 7c2ad06016
commit 27c009d792
2 changed files with 5 additions and 0 deletions
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3
slam/planarSLAM.cpp
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@ -20,6 +20,9 @@ namespace gtsam {
namespace planarSLAM {
Graph::Graph(const NonlinearFactorGraph<Config>& graph) :
NonlinearFactorGraph<Config>(graph) {}
void Graph::addPrior(const PoseKey& i, const Pose2& p,
const SharedGaussian& model) {
sharedFactor factor(new Prior(i, p, model));

2
slam/planarSLAM.h
View File

@ -37,6 +37,8 @@ namespace gtsam {
// Graph
struct Graph: public NonlinearFactorGraph<Config> {
Graph(){}
Graph(const NonlinearFactorGraph<Config>& graph);
void addPrior(const PoseKey& i, const Pose2& p, const SharedGaussian& model);
void addPoseConstraint(const PoseKey& i, const Pose2& p);
void addOdometry(const PoseKey& i, const PoseKey& j, const Pose2& z,