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Added marginals function (could move to superclass?)

release/4.3a0
Frank Dellaert 2012-05-22 12:31:59 +00:00
parent 5145018053
commit 3baa6c6e04
1 changed files with 7 additions and 0 deletions
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7
gtsam/slam/pose2SLAM.h
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@ -23,6 +23,7 @@
#include <gtsam/nonlinear/Values.h> #include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/NonlinearEquality.h> #include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/geometry/Pose2.h> #include <gtsam/geometry/Pose2.h>
// Use pose2SLAM namespace for specific SLAM instance // Use pose2SLAM namespace for specific SLAM instance
@ -100,6 +101,12 @@ namespace pose2SLAM {
/// Optimize /// Optimize
Values optimize(const Values& initialEstimate) const; Values optimize(const Values& initialEstimate) const;
/// Return a Marginals object
Marginals marginals(const Values& solution) const {
return Marginals(*this,solution);
}
}; };
} // pose2SLAM } // pose2SLAM