Update commment syntax and replace typedef with using
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				|  | @ -27,10 +27,10 @@ namespace gtsam { | |||
| template <class POSE> | ||||
| class MagPoseFactor: public NoiseModelFactor1<POSE> { | ||||
|  private: | ||||
|   typedef MagPoseFactor<POSE> This; | ||||
|   typedef NoiseModelFactor1<POSE> Base; | ||||
|   typedef typename POSE::Translation Point;   // Could be a Vector2 or Vector3 depending on POSE.
 | ||||
|   typedef typename POSE::Rotation Rot; | ||||
|   using This = MagPoseFactor<POSE>; | ||||
|   using Base = NoiseModelFactor1<POSE>; | ||||
|   using Point = typename POSE::Translation; ///< Could be a Vector2 or Vector3 depending on POSE.
 | ||||
|   using Rot = typename POSE::Rotation; | ||||
| 
 | ||||
|   const Point measured_; ///< The measured magnetometer data in the body frame.
 | ||||
|   const Point nM_; ///< Local magnetic field (mag output units) in the nav frame.
 | ||||
|  | @ -42,22 +42,22 @@ class MagPoseFactor: public NoiseModelFactor1<POSE> { | |||
|   static const int RotDim = traits<Rot>::dimension; | ||||
| 
 | ||||
|   /// Shorthand for a smart pointer to a factor.
 | ||||
|   typedef typename boost::shared_ptr<MagPoseFactor<POSE>> shared_ptr; | ||||
|   using shared_ptr = boost::shared_ptr<MagPoseFactor<POSE>>; | ||||
| 
 | ||||
|   /** Concept check by type. */ | ||||
|   /// Concept check by type.
 | ||||
|   GTSAM_CONCEPT_TESTABLE_TYPE(POSE) | ||||
|   GTSAM_CONCEPT_POSE_TYPE(POSE) | ||||
| 
 | ||||
|  public: | ||||
|   ~MagPoseFactor() override {} | ||||
| 
 | ||||
|   /** Default constructor - only use for serialization. */ | ||||
|   /// Default constructor - only use for serialization.
 | ||||
|   MagPoseFactor() {} | ||||
| 
 | ||||
|   /**
 | ||||
|    * Construct the factor. | ||||
|    * @param pose_key of the unknown pose nPb in the factor graph | ||||
|    * @param measurement magnetometer reading, a Point2 or Point3 | ||||
|    * @param measured magnetometer reading, a Point2 or Point3 | ||||
|    * @param scale by which a unit vector is scaled to yield a magnetometer reading | ||||
|    * @param direction of the local magnetic field, see e.g. http://www.ngdc.noaa.gov/geomag-web/#igrfwmm
 | ||||
|    * @param bias of the magnetometer, modeled as purely additive (after scaling) | ||||
|  | @ -83,9 +83,9 @@ class MagPoseFactor: public NoiseModelFactor1<POSE> { | |||
|         NonlinearFactor::shared_ptr(new This(*this))); | ||||
|   } | ||||
| 
 | ||||
|   /** Implement functions needed for Testable */ | ||||
|   /// Implement functions needed for Testable.
 | ||||
| 
 | ||||
|   /** print */ | ||||
|   // Print out the factor.
 | ||||
|   void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override { | ||||
|     Base::print(s, keyFormatter); | ||||
|     gtsam::print(Vector(nM_), "local field (nM): "); | ||||
|  | @ -93,7 +93,7 @@ class MagPoseFactor: public NoiseModelFactor1<POSE> { | |||
|     gtsam::print(Vector(bias_), "magnetometer bias: "); | ||||
|   } | ||||
| 
 | ||||
|   /** equals */ | ||||
|   /// Equals function.
 | ||||
|   bool equals(const NonlinearFactor& expected, double tol=1e-9) const override { | ||||
|     const This *e = dynamic_cast<const This*> (&expected); | ||||
|     return e != nullptr && Base::equals(*e, tol) && | ||||
|  | @ -102,9 +102,10 @@ class MagPoseFactor: public NoiseModelFactor1<POSE> { | |||
|         gtsam::equal_with_abs_tol(this->bias_, e->bias_, tol); | ||||
|   } | ||||
| 
 | ||||
|   /** Implement functions needed to derive from Factor. */ | ||||
|   /// Implement functions needed to derive from Factor.
 | ||||
| 
 | ||||
|   /** Return the factor's error h(x) - z, and the optional Jacobian. Note that
 | ||||
|   /**
 | ||||
|    * Return the factor's error h(x) - z, and the optional Jacobian. Note that | ||||
|    * the measurement error is expressed in the body frame. | ||||
|    */ | ||||
|   Vector evaluateError(const POSE& nPb, boost::optional<Matrix&> H = boost::none) const override { | ||||
|  | @ -124,7 +125,7 @@ class MagPoseFactor: public NoiseModelFactor1<POSE> { | |||
|   } | ||||
| 
 | ||||
|  private: | ||||
|   /** Serialization function */ | ||||
|   /// Serialization function.
 | ||||
|   friend class boost::serialization::access; | ||||
|   template<class ARCHIVE> | ||||
|   void serialize(ARCHIVE & ar, const unsigned int /*version*/) { | ||||
|  |  | |||
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