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Added SuccessiveLinearizationParams.ordering and BearingRangeFactor in matlab interface

release/4.3a0
Richard Roberts 2012-07-23 19:20:56 +00:00
parent d397139fa9
commit 5b584c3b73
4 changed files with 21 additions and 18 deletions
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15
gtsam.h
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@ -1167,6 +1167,7 @@ virtual class NonlinearOptimizerParams {
virtual class SuccessiveLinearizationParams : gtsam::NonlinearOptimizerParams { virtual class SuccessiveLinearizationParams : gtsam::NonlinearOptimizerParams {
SuccessiveLinearizationParams(); SuccessiveLinearizationParams();
void setOrdering(const gtsam::Ordering& ordering);
bool isMultifrontal() const; bool isMultifrontal() const;
bool isSequential() const; bool isSequential() const;
bool isCholmod() const; bool isCholmod() const;
@ -1357,16 +1358,22 @@ typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::Point3> RangeFactorSimple
typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::CalibratedCamera> RangeFactorCalibratedCamera; typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::CalibratedCamera> RangeFactorCalibratedCamera;
typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactorSimpleCamera; typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactorSimpleCamera;
template<POSE, POINT, ROTATION>
#include <gtsam/slam/BearingFactor.h>
template<POSE, POINT, ROT>
virtual class BearingFactor : gtsam::NonlinearFactor { virtual class BearingFactor : gtsam::NonlinearFactor {
BearingFactor(size_t key1, size_t key2, const ROT& measured, const gtsam::noiseModel::Base* noiseModel); BearingFactor(size_t key1, size_t key2, const ROTATION& measured, const gtsam::noiseModel::Base* noiseModel);
}; };
typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingFactor2D; typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingFactor2D;
template<POSE, POINT, ROTATION>
virtual class BearingRangeFactor : gtsam::NonlinearFactor {
BearingRangeFactor(size_t poseKey, size_t pointKey, const ROTATION& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel);
};
typedef gtsam::BearingRangeFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingRangeFactor2D;
#include <gtsam/slam/ProjectionFactor.h> #include <gtsam/slam/ProjectionFactor.h>
template<POSE, LANDMARK, CALIBRATION> template<POSE, LANDMARK, CALIBRATION>
virtual class GenericProjectionFactor : gtsam::NonlinearFactor { virtual class GenericProjectionFactor : gtsam::NonlinearFactor {

16
gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
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@ -78,20 +78,16 @@ public:
} }
inline bool isMultifrontal() const { inline bool isMultifrontal() const {
return (linearSolverType == MULTIFRONTAL_CHOLESKY) || (linearSolverType == MULTIFRONTAL_QR); return (linearSolverType == MULTIFRONTAL_CHOLESKY) || (linearSolverType == MULTIFRONTAL_QR); }
}
inline bool isSequential() const { inline bool isSequential() const {
return (linearSolverType == SEQUENTIAL_CHOLESKY) || (linearSolverType == SEQUENTIAL_QR); return (linearSolverType == SEQUENTIAL_CHOLESKY) || (linearSolverType == SEQUENTIAL_QR); }
}
inline bool isCholmod() const { inline bool isCholmod() const { return (linearSolverType == CHOLMOD); }
return (linearSolverType == CHOLMOD);
}
inline bool isCG() const { inline bool isCG() const { return (linearSolverType == CG); }
return (linearSolverType == CG);
} void setOrdering(const Ordering& ordering) { this->ordering = ordering; }
GaussianFactorGraph::Eliminate getEliminationFunction() { GaussianFactorGraph::Eliminate getEliminationFunction() {
switch (linearSolverType) { switch (linearSolverType) {

4
gtsam/slam/BearingFactor.h
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@ -25,12 +25,12 @@ namespace gtsam {
/** /**
* Binary factor for a bearing measurement * Binary factor for a bearing measurement
*/ */
template<class POSE, class POINT, class ROT = typename POSE::Rotation> template<class POSE, class POINT, class ROTATION = typename POSE::Rotation>
class BearingFactor: public NoiseModelFactor2<POSE, POINT> { class BearingFactor: public NoiseModelFactor2<POSE, POINT> {
private: private:
typedef POSE Pose; typedef POSE Pose;
typedef ROT Rot; typedef ROTATION Rot;
typedef POINT Point; typedef POINT Point;
typedef BearingFactor<POSE, POINT> This; typedef BearingFactor<POSE, POINT> This;

4
gtsam/slam/BearingRangeFactor.h
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@ -27,12 +27,12 @@ namespace gtsam {
/** /**
* Binary factor for a bearing measurement * Binary factor for a bearing measurement
*/ */
template<class POSE, class POINT> template<class POSE, class POINT, class ROTATION = typename POSE::Rotation>
class BearingRangeFactor: public NoiseModelFactor2<POSE, POINT> { class BearingRangeFactor: public NoiseModelFactor2<POSE, POINT> {
private: private:
typedef POSE Pose; typedef POSE Pose;
typedef typename POSE::Rotation Rot; typedef ROTATION Rot;
typedef POINT Point; typedef POINT Point;
typedef BearingRangeFactor<POSE, POINT> This; typedef BearingRangeFactor<POSE, POINT> This;