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Merge pull request #2108 from borglab/fan/add_wrapping_imubias_isam2 

Add wrapper for imuBias in iSAM2
release/4.3a0
Frank Dellaert 2025-04-24 09:29:47 -04:00 committed by GitHub
parent a80a923f4f 5b91110c38
commit 3eac859bf9
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GPG Key ID: B5690EEEBB952194
1 changed files with 2 additions and 1 deletions
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gtsam/nonlinear/nonlinear.i
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@ -549,7 +549,7 @@ class ISAM2 {
gtsam::Values calculateEstimate() const;
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, gtsam::Similarity2, gtsam::Similarity3, gtsam::Cal3_S2, gtsam::Cal3DS2,
gtsam::Cal3f, gtsam::Cal3Bundler,
gtsam::Cal3f, gtsam::Cal3Bundler, gtsam::imuBias::ConstantBias,
gtsam::EssentialMatrix, gtsam::FundamentalMatrix, gtsam::SimpleFundamentalMatrix,
gtsam::PinholeCamera<gtsam::Cal3_S2>,
gtsam::PinholeCamera<gtsam::Cal3Bundler>,
@ -626,6 +626,7 @@ template <T = {double,
gtsam::PinholeCamera<gtsam::Cal3Bundler>,
gtsam::PinholeCamera<gtsam::Cal3Fisheye>,
gtsam::PinholeCamera<gtsam::Cal3Unified>,
gtsam::NavState,
gtsam::imuBias::ConstantBias}>
virtual class PriorFactor : gtsam::NoiseModelFactor {
PriorFactor(size_t key, const T& prior,