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address review comments

release/4.3a0
Gerry Chen 2022-11-16 14:56:18 -05:00
parent 112727630b
commit 322e5551f7
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GPG Key ID: E9845092D3A57286
1 changed files with 9 additions and 11 deletions
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20
gtsam/nonlinear/NonlinearFactor.h
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@ -308,7 +308,7 @@ class NoiseModelFactorN : public NoiseModelFactor {
/// N is the number of variables (N-way factor) /// N is the number of variables (N-way factor)
enum { N = sizeof...(VALUES) }; enum { N = sizeof...(VALUES) };
/** The type of the i'th template param can be obtained as X<I> */ /// The type of the i'th template param can be obtained as X<I>
template <int I, typename std::enable_if<(I < N), bool>::type = true> template <int I, typename std::enable_if<(I < N), bool>::type = true>
using X = typename std::tuple_element<I, std::tuple<VALUES...>>::type; using X = typename std::tuple_element<I, std::tuple<VALUES...>>::type;
@ -330,9 +330,7 @@ class NoiseModelFactorN : public NoiseModelFactor {
/// @name Constructors /// @name Constructors
/// @{ /// @{
/** /// Default Constructor for I/O
* Default Constructor for I/O
*/
NoiseModelFactorN() {} NoiseModelFactorN() {}
/** /**
@ -362,7 +360,7 @@ class NoiseModelFactorN : public NoiseModelFactor {
~NoiseModelFactorN() override {} ~NoiseModelFactorN() override {}
/** Returns a key. Usage: `key<I>()` returns the I'th key. */ /// Returns a key. Usage: `key<I>()` returns the I'th key.
template <int I> template <int I>
inline typename std::enable_if<(I < N), Key>::type key() const { inline typename std::enable_if<(I < N), Key>::type key() const {
return keys_[I]; return keys_[I];
@ -474,7 +472,7 @@ class NoiseModelFactorN : public NoiseModelFactor {
* with 1 variable. To derive from this class, implement evaluateError(). * with 1 variable. To derive from this class, implement evaluateError().
*/ */
template <class VALUE> template <class VALUE>
class NoiseModelFactor1 : public NoiseModelFactorN<VALUE> { class GTSAM_DEPRECATED NoiseModelFactor1 : public NoiseModelFactorN<VALUE> {
public: public:
// aliases for value types pulled from keys // aliases for value types pulled from keys
using X = VALUE; using X = VALUE;
@ -508,7 +506,7 @@ class NoiseModelFactor1 : public NoiseModelFactorN<VALUE> {
* with 2 variables. To derive from this class, implement evaluateError(). * with 2 variables. To derive from this class, implement evaluateError().
*/ */
template <class VALUE1, class VALUE2> template <class VALUE1, class VALUE2>
class NoiseModelFactor2 : public NoiseModelFactorN<VALUE1, VALUE2> { class GTSAM_DEPRECATED NoiseModelFactor2 : public NoiseModelFactorN<VALUE1, VALUE2> {
public: public:
// aliases for value types pulled from keys // aliases for value types pulled from keys
using X1 = VALUE1; using X1 = VALUE1;
@ -544,7 +542,7 @@ class NoiseModelFactor2 : public NoiseModelFactorN<VALUE1, VALUE2> {
* with 3 variables. To derive from this class, implement evaluateError(). * with 3 variables. To derive from this class, implement evaluateError().
*/ */
template <class VALUE1, class VALUE2, class VALUE3> template <class VALUE1, class VALUE2, class VALUE3>
class NoiseModelFactor3 : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3> { class GTSAM_DEPRECATED NoiseModelFactor3 : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3> {
public: public:
// aliases for value types pulled from keys // aliases for value types pulled from keys
using X1 = VALUE1; using X1 = VALUE1;
@ -582,7 +580,7 @@ class NoiseModelFactor3 : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3> {
* with 4 variables. To derive from this class, implement evaluateError(). * with 4 variables. To derive from this class, implement evaluateError().
*/ */
template <class VALUE1, class VALUE2, class VALUE3, class VALUE4> template <class VALUE1, class VALUE2, class VALUE3, class VALUE4>
class NoiseModelFactor4 class GTSAM_DEPRECATED NoiseModelFactor4
: public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4> { : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4> {
public: public:
// aliases for value types pulled from keys // aliases for value types pulled from keys
@ -623,7 +621,7 @@ class NoiseModelFactor4
* with 5 variables. To derive from this class, implement evaluateError(). * with 5 variables. To derive from this class, implement evaluateError().
*/ */
template <class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5> template <class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
class NoiseModelFactor5 class GTSAM_DEPRECATED NoiseModelFactor5
: public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5> { : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5> {
public: public:
// aliases for value types pulled from keys // aliases for value types pulled from keys
@ -668,7 +666,7 @@ class NoiseModelFactor5
*/ */
template <class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5, template <class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5,
class VALUE6> class VALUE6>
class NoiseModelFactor6 class GTSAM_DEPRECATED NoiseModelFactor6
: public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6> { : public NoiseModelFactorN<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6> {
public: public:
// aliases for value types pulled from keys // aliases for value types pulled from keys