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tried some changes for wrapping

release/4.3a0
Luca 2014-05-01 10:48:54 -04:00
parent 2cb448fa24
commit 32e1a8f994
1 changed files with 8 additions and 7 deletions
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15
gtsam_unstable/gtsam_unstable.h
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@ -377,19 +377,20 @@ virtual class SmartRangeFactor : gtsam::NoiseModelFactor {
};
#include <gtsam_unstable/slam/SmartProjectionPoseFactor.h>
template<POSE, LANDMARK, CALIBRATION>
virtual class SmartProjectionPoseFactor: gtsam::SmartProjectionFactor {
template<POSE = {gtsam::Pose3},LANDMARK = {gtsam::Point3},CALIBRATION = {gtsam::Cal3_S2}>
virtual class SmartProjectionPoseFactor : gtsam::SmartProjectionFactor {
SmartProjectionPoseFactor(double rankTol, double linThreshold,
bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor);
//SmartProjectionPoseFactor(double rankTol, double linThreshold, bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor);
SmartProjectionPoseFactor();
void add(const Point2 measured_i, const Key poseKey_i, const SharedNoiseModel noise_i,
const CALIBRATION* K_i);
//void add(gtsam::Point2 measured_i, size_t poseKey_i, gtsam::SharedNoiseModel noise_i, CALIBRATION* K_i);
// enabling serialization functionality
void serialize() const;
// void serialize() const;
};
//typedef gtsam::SmartProjectionPoseFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2 > SmartProjectionPose3Factor;
#include <gtsam/slam/RangeFactor.h>
template<POSE, POINT>