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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
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10
gtsam/slam/OrientedPlane3Factor.h
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@ -11,6 +11,7 @@
#include <gtsam/geometry/Pose3.h> #include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/OrientedPlane3.h> #include <gtsam/geometry/OrientedPlane3.h>
#include <gtsam/nonlinear/Symbol.h> #include <gtsam/nonlinear/Symbol.h>
#include <gtsam/inference/Key.h>
#include <iostream> #include <iostream>
namespace gtsam { 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> { class OrientedPlane3DirectionPrior: public NoiseModelFactor1<OrientedPlane3> {
protected: protected:
OrientedPlane3 measured_p_; /// measured plane parameters OrientedPlane3 measured_p_; /// measured plane parameters
Symbol landmarkSymbol_; Key landmarkSymbol_;
typedef NoiseModelFactor1<OrientedPlane3 > Base; typedef NoiseModelFactor1<OrientedPlane3 > Base;
@ -75,10 +77,10 @@ namespace gtsam {
{} {}
/// Constructor with measured plane coefficients (a,b,c,d), noise model, landmark symbol /// 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) const SharedGaussian& noiseModel)
: Base (noiseModel, landmark), : Base (noiseModel, key),
landmarkSymbol_ (landmark) landmarkSymbol_ (key)
{ {
measured_p_ = OrientedPlane3 (Sphere2 (z (0), z (1), z (2)), z (3)); measured_p_ = OrientedPlane3 (Sphere2 (z (0), z (1), z (2)), z (3));
} }