Wrapped copy constructor for Pose2, lots of routines for GaussianBayesTree, and made all NL factors descend from noiseModelFactor, so we get unwhitenedError etc by inheritance...
Frank Dellaert
parent
12d083e476
commit
5f500bd510
58
gtsam.h
58
gtsam.h
|
|
@ -462,6 +462,7 @@ virtual class Rot3 : gtsam::Value {
|
|||
virtual class Pose2 : gtsam::Value {
|
||||
// Standard Constructor
|
||||
Pose2();
|
||||
Pose2(const gtsam::Pose2& pose);
|
||||
Pose2(double x, double y, double theta);
|
||||
Pose2(double theta, const gtsam::Point2& t);
|
||||
Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
|
||||
|
|
@ -1270,6 +1271,15 @@ virtual class GaussianBayesTree : gtsam::GaussianBayesTreeBase {
|
|||
GaussianBayesTree();
|
||||
GaussianBayesTree(const gtsam::GaussianBayesNet& bn);
|
||||
GaussianBayesTree(const gtsam::GaussianBayesNet& other);
|
||||
bool equals(const gtsam::GaussianBayesTree& other, double tol) const;
|
||||
void print(string s);
|
||||
size_t size() const;
|
||||
size_t nrNodes() const;
|
||||
bool empty() const;
|
||||
gtsam::GaussianBayesTreeClique* root() const;
|
||||
gtsam::GaussianBayesTreeClique* clique(size_t j) const;
|
||||
size_t numCachedSeparatorMarginals() const;
|
||||
void saveGraph(string s) const;
|
||||
};
|
||||
|
||||
// namespace functions for GaussianBayesTree
|
||||
|
|
@ -1637,19 +1647,28 @@ class NonlinearFactorGraph {
|
|||
};
|
||||
|
||||
virtual class NonlinearFactor {
|
||||
// Factor base class
|
||||
size_t size() const;
|
||||
gtsam::KeyVector keys() const;
|
||||
void print(string s) const;
|
||||
void printKeys(string s) const;
|
||||
// NonlinearFactor
|
||||
void equals(const gtsam::NonlinearFactor& other, double tol) const;
|
||||
gtsam::KeyVector keys() const;
|
||||
size_t size() const;
|
||||
size_t dim() const;
|
||||
double error(const gtsam::Values& c) const;
|
||||
size_t dim() const;
|
||||
bool active(const gtsam::Values& c) const;
|
||||
gtsam::GaussianFactor* linearize(const gtsam::Values& c, const gtsam::Ordering& ordering) const;
|
||||
gtsam::NonlinearFactor* clone() const;
|
||||
// gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen
|
||||
};
|
||||
|
||||
virtual class NoiseModelFactor: gtsam::NonlinearFactor {
|
||||
void equals(const gtsam::NoiseModelFactor& other, double tol) const;
|
||||
gtsam::noiseModel::Base* get_noiseModel() const;
|
||||
Vector unwhitenedError(const gtsam::Values& x) const;
|
||||
Vector whitenedError(const gtsam::Values& x) const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/Values.h>
|
||||
class Values {
|
||||
Values();
|
||||
|
|
@ -2071,10 +2090,9 @@ class NonlinearISAM {
|
|||
|
||||
#include <gtsam/slam/PriorFactor.h>
|
||||
template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera}>
|
||||
virtual class PriorFactor : gtsam::NonlinearFactor {
|
||||
virtual class PriorFactor : gtsam::NoiseModelFactor {
|
||||
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
|
||||
T prior() const;
|
||||
gtsam::noiseModel::Base* get_noiseModel() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -2083,10 +2101,9 @@ virtual class PriorFactor : gtsam::NonlinearFactor {
|
|||
|
||||
#include <gtsam/slam/BetweenFactor.h>
|
||||
template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
|
||||
virtual class BetweenFactor : gtsam::NonlinearFactor {
|
||||
virtual class BetweenFactor : gtsam::NoiseModelFactor {
|
||||
BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
|
||||
T measured() const;
|
||||
gtsam::noiseModel::Base* get_noiseModel() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -2095,7 +2112,7 @@ virtual class BetweenFactor : gtsam::NonlinearFactor {
|
|||
|
||||
#include <gtsam/nonlinear/NonlinearEquality.h>
|
||||
template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera}>
|
||||
virtual class NonlinearEquality : gtsam::NonlinearFactor {
|
||||
virtual class NonlinearEquality : gtsam::NoiseModelFactor {
|
||||
// Constructor - forces exact evaluation
|
||||
NonlinearEquality(size_t j, const T& feasible);
|
||||
// Constructor - allows inexact evaluation
|
||||
|
|
@ -2108,9 +2125,8 @@ virtual class NonlinearEquality : gtsam::NonlinearFactor {
|
|||
|
||||
#include <gtsam/slam/RangeFactor.h>
|
||||
template<POSE, POINT>
|
||||
virtual class RangeFactor : gtsam::NonlinearFactor {
|
||||
virtual class RangeFactor : gtsam::NoiseModelFactor {
|
||||
RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel);
|
||||
gtsam::noiseModel::Base* get_noiseModel() const;
|
||||
};
|
||||
|
||||
typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
|
||||
|
|
@ -2125,9 +2141,8 @@ typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactor
|
|||
|
||||
#include <gtsam/slam/BearingFactor.h>
|
||||
template<POSE, POINT, ROTATION>
|
||||
virtual class BearingFactor : gtsam::NonlinearFactor {
|
||||
virtual class BearingFactor : gtsam::NoiseModelFactor {
|
||||
BearingFactor(size_t key1, size_t key2, const ROTATION& measured, const gtsam::noiseModel::Base* noiseModel);
|
||||
gtsam::noiseModel::Base* get_noiseModel() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -2138,9 +2153,8 @@ typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingFa
|
|||
|
||||
#include <gtsam/slam/BearingRangeFactor.h>
|
||||
template<POSE, POINT, ROTATION>
|
||||
virtual class BearingRangeFactor : gtsam::NonlinearFactor {
|
||||
virtual class BearingRangeFactor : gtsam::NoiseModelFactor {
|
||||
BearingRangeFactor(size_t poseKey, size_t pointKey, const ROTATION& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel);
|
||||
gtsam::noiseModel::Base* get_noiseModel() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -2151,7 +2165,7 @@ typedef gtsam::BearingRangeFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> Bear
|
|||
|
||||
#include <gtsam/slam/ProjectionFactor.h>
|
||||
template<POSE, LANDMARK, CALIBRATION>
|
||||
virtual class GenericProjectionFactor : gtsam::NonlinearFactor {
|
||||
virtual class GenericProjectionFactor : gtsam::NoiseModelFactor {
|
||||
GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
|
||||
size_t poseKey, size_t pointKey, const CALIBRATION* k);
|
||||
GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
|
||||
|
|
@ -2167,7 +2181,6 @@ virtual class GenericProjectionFactor : gtsam::NonlinearFactor {
|
|||
CALIBRATION* calibration() const;
|
||||
bool verboseCheirality() const;
|
||||
bool throwCheirality() const;
|
||||
gtsam::noiseModel::Base* get_noiseModel() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -2178,7 +2191,7 @@ typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3D
|
|||
|
||||
#include <gtsam/slam/GeneralSFMFactor.h>
|
||||
template<CAMERA, LANDMARK>
|
||||
virtual class GeneralSFMFactor : gtsam::NonlinearFactor {
|
||||
virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
|
||||
GeneralSFMFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t cameraKey, size_t landmarkKey);
|
||||
gtsam::Point2 measured() const;
|
||||
};
|
||||
|
|
@ -2186,7 +2199,7 @@ typedef gtsam::GeneralSFMFactor<gtsam::SimpleCamera, gtsam::Point3> GeneralSFMFa
|
|||
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
|
||||
|
||||
template<CALIBRATION = {gtsam::Cal3_S2}>
|
||||
virtual class GeneralSFMFactor2 : gtsam::NonlinearFactor {
|
||||
virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
|
||||
GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey);
|
||||
gtsam::Point2 measured() const;
|
||||
|
||||
|
|
@ -2197,12 +2210,11 @@ virtual class GeneralSFMFactor2 : gtsam::NonlinearFactor {
|
|||
|
||||
#include <gtsam/slam/StereoFactor.h>
|
||||
template<POSE, LANDMARK>
|
||||
virtual class GenericStereoFactor : gtsam::NonlinearFactor {
|
||||
virtual class GenericStereoFactor : gtsam::NoiseModelFactor {
|
||||
GenericStereoFactor(const gtsam::StereoPoint2& measured, const gtsam::noiseModel::Base* noiseModel,
|
||||
size_t poseKey, size_t landmarkKey, const gtsam::Cal3_S2Stereo* K);
|
||||
gtsam::StereoPoint2 measured() const;
|
||||
gtsam::Cal3_S2Stereo* calibration() const;
|
||||
gtsam::noiseModel::Base* get_noiseModel() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -2211,9 +2223,8 @@ typedef gtsam::GenericStereoFactor<gtsam::Pose3, gtsam::Point3> GenericStereoFac
|
|||
|
||||
#include <gtsam/slam/PoseTranslationPrior.h>
|
||||
template<POSE>
|
||||
virtual class PoseTranslationPrior : gtsam::NonlinearFactor {
|
||||
virtual class PoseTranslationPrior : gtsam::NoiseModelFactor {
|
||||
PoseTranslationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
|
||||
gtsam::noiseModel::Base* get_noiseModel() const;
|
||||
};
|
||||
|
||||
typedef gtsam::PoseTranslationPrior<gtsam::Pose2> PoseTranslationPrior2D;
|
||||
|
|
@ -2221,9 +2232,8 @@ typedef gtsam::PoseTranslationPrior<gtsam::Pose3> PoseTranslationPrior3D;
|
|||
|
||||
#include <gtsam/slam/PoseRotationPrior.h>
|
||||
template<POSE>
|
||||
virtual class PoseRotationPrior : gtsam::NonlinearFactor {
|
||||
virtual class PoseRotationPrior : gtsam::NoiseModelFactor {
|
||||
PoseRotationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
|
||||
gtsam::noiseModel::Base* get_noiseModel() const;
|
||||
};
|
||||
|
||||
typedef gtsam::PoseRotationPrior<gtsam::Pose2> PoseRotationPrior2D;
|
||||
|
|
|
|||
Loading…
Reference in New Issue