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added measurement typedef to StereoFactor & GeneralSFMFactor

release/4.3a0
Chris Beall 2011-03-11 19:09:07 +00:00
parent dbe7093f4d
commit 2ce69a7250
2 changed files with 7 additions and 3 deletions
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1
gtsam/slam/GeneralSFMFactor.h
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@ -28,6 +28,7 @@ namespace gtsam {
typedef typename CamK::Value Cam; typedef typename CamK::Value Cam;
typedef GeneralSFMFactor<Cfg, CamK, LmK> Self ; typedef GeneralSFMFactor<Cfg, CamK, LmK> Self ;
typedef NonlinearFactor2<Cfg, CamK, LmK> Base; typedef NonlinearFactor2<Cfg, CamK, LmK> Base;
typedef Point2 Measurement;
// shorthand for a smart pointer to a factor // shorthand for a smart pointer to a factor
typedef boost::shared_ptr<GeneralSFMFactor<Cfg, LmK, CamK> > shared_ptr; typedef boost::shared_ptr<GeneralSFMFactor<Cfg, LmK, CamK> > shared_ptr;

9
gtsam/slam/StereoFactor.h
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@ -38,11 +38,9 @@ public:
// shorthand for base class type // shorthand for base class type
typedef NonlinearFactor2<VALUES, KEY1, KEY2> Base; typedef NonlinearFactor2<VALUES, KEY1, KEY2> Base;
// shorthand for a smart pointer to a factor
typedef boost::shared_ptr<GenericStereoFactor> shared_ptr; typedef boost::shared_ptr<GenericStereoFactor> shared_ptr;
typedef typename KEY1::Value CamPose; typedef typename KEY1::Value CamPose;
typedef StereoPoint2 Measurement;
/** /**
* Default constructor * Default constructor
@ -101,6 +99,11 @@ public:
return z_; return z_;
} }
/** return the measured */
inline const StereoPoint2 measured() const {
return z_;
}
private: private:
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;