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added TransformBtwRobotsUnaryFactorEM.

release/4.3a0
Vadim Indelman 2013-08-23 15:24:46 +00:00
parent 77e02a332e
commit 3b7670c5aa
1 changed files with 19 additions and 0 deletions
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19
gtsam_unstable/gtsam_unstable.h
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@ -319,6 +319,25 @@ virtual class BetweenFactorEM : gtsam::NonlinearFactor {
Vector whitenedError(const gtsam::Values& x); Vector whitenedError(const gtsam::Values& x);
Vector unwhitenedError(const gtsam::Values& x); Vector unwhitenedError(const gtsam::Values& x);
Vector calcIndicatorProb(const gtsam::Values& x); Vector calcIndicatorProb(const gtsam::Values& x);
gtsam::Pose2 measured(); // TODO: figure out how to output a template instead
void set_flag_bump_up_near_zero_probs(bool flag);
bool get_flag_bump_up_near_zero_probs() const;
void serializable() const; // enabling serialization functionality
};
#include <gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h>
template<T = {gtsam::Pose2}>
virtual class TransformBtwRobotsUnaryFactorEM : gtsam::NonlinearFactor {
TransformBtwRobotsUnaryFactorEM(size_t key, const T& relativePose, size_t keyA, size_t keyB,
const gtsam::Values& valA, const gtsam::Values& valB,
const gtsam::noiseModel::Gaussian* model_inlier, const gtsam::noiseModel::Gaussian* model_outlier,
double prior_inlier, double prior_outlier);
Vector whitenedError(const gtsam::Values& x);
Vector unwhitenedError(const gtsam::Values& x);
Vector calcIndicatorProb(const gtsam::Values& x);
void setValAValB(const gtsam::Values valA, const gtsam::Values valB);
void serializable() const; // enabling serialization functionality void serializable() const; // enabling serialization functionality
}; };