Inherited methods show up on doc. ISAM2 for MATLAB now inherets from Bayes Tree
Andrew Melim
parent
d8a6b6a5e4
commit
4752c10e21
34
gtsam.h
34
gtsam.h
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@ -898,6 +898,24 @@ class VariableIndex {
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void permuteInPlace(const gtsam::Permutation& permutation);
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};
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#include <gtsam/inference/BayesTree.h>
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template<CONDITIONAL, CLIQUE>
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virtual class BayesTree {
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//Constructors
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BayesTree();
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//Standard Interface
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//bool equals(const gtsam::BayesTree<CONDITIONAL, CLIQUE>& other, double tol) const;
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void print(string s);
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size_t size();
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CLIQUE* root() const;
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void clear();
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void insert(const CLIQUE* subtree);
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};
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typedef gtsam::BayesTree<gtsam::GaussianConditional, gtsam::ISAM2Clique> ISAM2BayesTree;
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//*************************************************************************
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// linear
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//*************************************************************************
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@ -1672,6 +1690,20 @@ class ISAM2Params {
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void setEnablePartialRelinearizationCheck(bool enablePartialRelinearizationCheck);
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};
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virtual class ISAM2Clique {
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//Constructors
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ISAM2Clique(const gtsam::GaussianConditional* conditional);
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//Standard Interface
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Vector gradientContribution() const;
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gtsam::ISAM2Clique* clone() const;
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void print(string s);
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void permuteWithInverse(const gtsam::Permutation& inversePermutation);
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bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation);
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};
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class ISAM2Result {
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ISAM2Result();
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@ -1683,7 +1715,7 @@ class ISAM2Result {
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size_t getCliques() const;
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};
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class ISAM2 {
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virtual class ISAM2 : gtsam::ISAM2BayesTree {
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ISAM2();
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ISAM2(const gtsam::ISAM2Params& params);
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@ -338,7 +338,7 @@ namespace gtsam {
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template<class CONDITIONAL, class CLIQUE>
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void BayesTree<CONDITIONAL,CLIQUE>::print(const std::string& s, const IndexFormatter& indexFormatter) const {
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if (root_.use_count() == 0) {
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printf("WARNING: BayesTree.print encountered a forest...\n");
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std::cout << "WARNING: BayesTree.print encountered a forest..." << std::endl;
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return;
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}
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std::cout << s << ": clique size == " << size() << ", node size == " << nodes_.size() << std::endl;
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@ -342,6 +342,15 @@ Module::Module(const string& interfacePath,
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printf("parsing stopped at \n%.20s\n",info.stop);
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throw ParseFailed((int)info.length);
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}
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//Explicitly add methods to the classes from parents so it shows in documentation
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BOOST_FOREACH(Class& cls, classes)
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{
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map<string, Method> inhereted = appendInheretedMethods(cls, classes);
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cls.methods.insert(inhereted.begin(), inhereted.end());
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}
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}
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/* ************************************************************************* */
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@ -432,6 +441,7 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co
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// verify parents
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if(!cls.qualifiedParent.empty() && std::find(validTypes.begin(), validTypes.end(), wrap::qualifiedName("::", cls.qualifiedParent)) == validTypes.end())
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throw DependencyMissing(wrap::qualifiedName("::", cls.qualifiedParent), cls.qualifiedName("::"));
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}
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// Create type attributes table and check validity
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@ -472,6 +482,33 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co
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wrapperFile.emit(true);
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}
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/* ************************************************************************* */
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map<string, Method> Module::appendInheretedMethods(const Class& cls, const vector<Class>& classes)
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{
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map<string, Method> methods;
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if(!cls.qualifiedParent.empty())
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{
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cout << "Class: " << cls.name << " Parent Name: " << cls.qualifiedParent.back() << endl;
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//Find Class
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BOOST_FOREACH(const Class& parent, classes)
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{
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//We found the class for our parent
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if(parent.name == cls.qualifiedParent.back())
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{
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cout << "Inner class: " << cls.qualifiedParent.back() << endl;
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Methods inhereted = appendInheretedMethods(parent, classes);
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methods.insert(inhereted.begin(), inhereted.end());
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}
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}
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}
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else
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{
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cout << "Dead end: " << cls.name << endl;
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methods.insert(cls.methods.begin(), cls.methods.end());
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}
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return methods;
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}
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/* ************************************************************************* */
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void Module::finish_wrapper(FileWriter& file, const std::vector<std::string>& functionNames) const {
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@ -35,6 +35,7 @@ namespace wrap {
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struct Module {
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typedef std::map<std::string, GlobalFunction> GlobalFunctions;
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typedef std::map<std::string, Method> Methods;
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std::string name; ///< module name
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std::vector<Class> classes; ///< list of classes
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@ -49,6 +50,9 @@ struct Module {
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const std::string& moduleName,
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bool enable_verbose=true);
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//Recursive method to append all methods inhereted from parent classes
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std::map<std::string, Method> appendInheretedMethods(const Class& cls, const std::vector<Class>& classes);
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/// MATLAB code generation:
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void matlab_code(
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const std::string& path,
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@ -1,7 +1,10 @@
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%class Point2, see Doxygen page for details
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%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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%
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%-------Constructors-------
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%Point2()
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%Point2(double x, double y)
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%
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%
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%-------Methods-------
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%argChar(char a) : returns void
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%argUChar(unsigned char a) : returns void
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@ -10,10 +13,7 @@
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%vectorConfusion() : returns VectorNotEigen
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%x() : returns double
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%y() : returns double
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%
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%-------Static Methods-------
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%
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%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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classdef Point2 < handle
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properties
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ptr_Point2 = 0
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@ -1,14 +1,16 @@
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%class Point3, see Doxygen page for details
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%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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%
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%-------Constructors-------
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%Point3(double x, double y, double z)
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%
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%
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%-------Methods-------
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%norm() : returns double
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%
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%
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%-------Static Methods-------
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%StaticFunctionRet(double z) : returns Point3
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%staticFunction() : returns double
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%
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%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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classdef Point3 < handle
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properties
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ptr_Point3 = 0
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@ -1,7 +1,10 @@
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%class Test, see Doxygen page for details
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%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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%
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%-------Constructors-------
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%Test()
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%Test(double a, Matrix b)
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%
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%
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%-------Methods-------
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%arg_EigenConstRef(Matrix value) : returns void
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%create_MixedPtrs() : returns pair< Test, SharedTest >
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@ -22,10 +25,7 @@
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%return_string(string value) : returns string
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%return_vector1(Vector value) : returns Vector
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%return_vector2(Vector value) : returns Vector
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%
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%-------Static Methods-------
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%
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%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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classdef Test < handle
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properties
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ptr_Test = 0
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@ -1,11 +1,9 @@
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%class ClassA, see Doxygen page for details
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%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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%
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%-------Constructors-------
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%ClassA()
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%
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%-------Methods-------
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%
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%-------Static Methods-------
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%
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%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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classdef ClassA < handle
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properties
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ptr_ns1ClassA = 0
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@ -1,11 +1,9 @@
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%class ClassB, see Doxygen page for details
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%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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%
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%-------Constructors-------
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%ClassB()
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%
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%-------Methods-------
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%
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%-------Static Methods-------
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%
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%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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classdef ClassB < handle
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properties
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ptr_ns1ClassB = 0
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@ -1,11 +1,9 @@
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%class ClassB, see Doxygen page for details
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%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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%
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%-------Constructors-------
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%ClassB()
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%
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%-------Methods-------
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%
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%-------Static Methods-------
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%
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%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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classdef ClassB < handle
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properties
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ptr_ns2ns3ClassB = 0
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@ -1,15 +1,17 @@
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%class ClassA, see Doxygen page for details
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%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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%
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%-------Constructors-------
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%ClassA()
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%
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%
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%-------Methods-------
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%memberFunction() : returns double
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%nsArg(ClassB arg) : returns int
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%nsReturn(double q) : returns ns2::ns3::ClassB
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%
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%
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%-------Static Methods-------
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%afunction() : returns double
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%
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%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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classdef ClassA < handle
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properties
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ptr_ns2ClassA = 0
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@ -1,11 +1,9 @@
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%class ClassC, see Doxygen page for details
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%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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%
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%-------Constructors-------
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%ClassC()
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%
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%-------Methods-------
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%
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%-------Static Methods-------
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%
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%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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classdef ClassC < handle
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properties
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ptr_ns2ClassC = 0
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@ -1,11 +1,9 @@
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%class ClassD, see Doxygen page for details
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%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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%
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%-------Constructors-------
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%ClassD()
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%
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%-------Methods-------
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%
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%-------Static Methods-------
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%
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%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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classdef ClassD < handle
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properties
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ptr_ClassD = 0
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