12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Changes Symbol to Key in Prior Factor. Can remove "symbol.h" after 

Alex's Change
release/4.3a0
Natesh Srinivasan 2014-01-31 10:43:54 -05:00
parent 89b582d148
commit 2b06c8ad36
1 changed files with 6 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
gtsam/slam/OrientedPlane3Factor.h
View File

@ -11,6 +11,7 @@
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/OrientedPlane3.h>
#include <gtsam/nonlinear/Symbol.h>
#include <gtsam/inference/Key.h>
#include <iostream>
namespace gtsam {
@ -59,11 +60,12 @@ namespace gtsam {
};
};
// TODO: Convert this factor to dimension two, three dimensions is redundant for direction prior
class OrientedPlane3DirectionPrior: public NoiseModelFactor1<OrientedPlane3> {
protected:
OrientedPlane3 measured_p_; /// measured plane parameters
Symbol landmarkSymbol_;
Key landmarkSymbol_;
typedef NoiseModelFactor1<OrientedPlane3 > Base;
@ -75,10 +77,10 @@ namespace gtsam {
{}
/// Constructor with measured plane coefficients (a,b,c,d), noise model, landmark symbol
OrientedPlane3DirectionPrior (const Symbol& landmark, const Vector&z,
OrientedPlane3DirectionPrior (Key key, const Vector&z,
const SharedGaussian& noiseModel)
: Base (noiseModel, landmark),
landmarkSymbol_ (landmark)
: Base (noiseModel, key),
landmarkSymbol_ (key)
{
measured_p_ = OrientedPlane3 (Sphere2 (z (0), z (1), z (2)), z (3));
}