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adding SmartProjectionPoseFactor to wrapper

release/4.3a0
djensen3 2014-04-30 16:17:32 -04:00
parent 862f5c7af3
commit 2cb448fa24
1 changed files with 12 additions and 12 deletions
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24
gtsam_unstable/gtsam_unstable.h
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@ -376,19 +376,19 @@ virtual class SmartRangeFactor : gtsam::NoiseModelFactor {
};
//#include <gtsam_unstable/slam/SmartProjectionPoseFactor.h>
//template<POSE, LANDMARK, CALIBRATION>
//virtual class SmartProjectionPoseFactor: public SmartProjectionFactor<POSE, LANDMARK, CALIBRATION, 6> {
#include <gtsam_unstable/slam/SmartProjectionPoseFactor.h>
template<POSE, LANDMARK, CALIBRATION>
virtual class SmartProjectionPoseFactor: gtsam::SmartProjectionFactor {
// SmartProjectionPoseFactor(const double rankTol, const double linThreshold,
// const bool manageDegeneracy, const bool enableEPI, const POSE& body_P_sensor);
//
// void add(const Point2 measured_i, const Key poseKey_i, const SharedNoiseModel noise_i,
// const CALIBRATION* K_i);
//
// // enabling serialization functionality
// void serialize() const;
//};
SmartProjectionPoseFactor(double rankTol, double linThreshold,
bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor);
void add(const Point2 measured_i, const Key poseKey_i, const SharedNoiseModel noise_i,
const CALIBRATION* K_i);
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/slam/RangeFactor.h>