.i files
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				|  | @ -376,8 +376,8 @@ class Pose2 { | |||
|   Pose2(const gtsam::Rot2& r, const gtsam::Point2& t); | ||||
|   Pose2(Vector v); | ||||
| 
 | ||||
|   static boost::optional<gtsam::Pose2> Align(const gtsam::Point2Pairs& abPointPairs); | ||||
|   static boost::optional<gtsam::Pose2> Align(const gtsam::Matrix& a, const gtsam::Matrix& b); | ||||
|   static std::optional<gtsam::Pose2> Align(const gtsam::Point2Pairs& abPointPairs); | ||||
|   static std::optional<gtsam::Pose2> Align(const gtsam::Matrix& a, const gtsam::Matrix& b); | ||||
| 
 | ||||
|   // Testable | ||||
|   void print(string s = "") const; | ||||
|  | @ -440,8 +440,8 @@ class Pose3 { | |||
|   Pose3(const gtsam::Pose2& pose2); | ||||
|   Pose3(Matrix mat); | ||||
| 
 | ||||
|   static boost::optional<gtsam::Pose3> Align(const gtsam::Point3Pairs& abPointPairs); | ||||
|   static boost::optional<gtsam::Pose3> Align(const gtsam::Matrix& a, const gtsam::Matrix& b); | ||||
|   static std::optional<gtsam::Pose3> Align(const gtsam::Point3Pairs& abPointPairs); | ||||
|   static std::optional<gtsam::Pose3> Align(const gtsam::Matrix& a, const gtsam::Matrix& b); | ||||
| 
 | ||||
|   // Testable | ||||
|   void print(string s = "") const; | ||||
|  |  | |||
|  | @ -75,8 +75,8 @@ virtual class PreintegratedRotationParams { | |||
| 
 | ||||
|   Matrix getGyroscopeCovariance() const; | ||||
| 
 | ||||
|   boost::optional<Vector> getOmegaCoriolis() const; | ||||
|   boost::optional<gtsam::Pose3> getBodyPSensor() const; | ||||
|   std::optional<Vector> getOmegaCoriolis() const; | ||||
|   std::optional<gtsam::Pose3> getBodyPSensor() const; | ||||
| }; | ||||
| 
 | ||||
| #include <gtsam/navigation/PreintegrationParams.h> | ||||
|  |  | |||
|  | @ -392,7 +392,7 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor { | |||
|   LinearContainerFactor(gtsam::GaussianFactor* factor); | ||||
| 
 | ||||
|   gtsam::GaussianFactor* factor() const; | ||||
|   //  const boost::optional<Values>& linearizationPoint() const; | ||||
|   //  const std::optional<Values>& linearizationPoint() const; | ||||
| 
 | ||||
|   bool isJacobian() const; | ||||
|   gtsam::JacobianFactor* toJacobian() const; | ||||
|  |  | |||
|  | @ -179,7 +179,7 @@ class SimWall2D { | |||
|   gtsam::Point2 midpoint() const; | ||||
| 
 | ||||
|   bool intersects(const gtsam::SimWall2D& wall) const; | ||||
|   //   bool intersects(const gtsam::SimWall2D& wall, boost::optional<gtsam::Point2&> pt={}) const; | ||||
|   //   bool intersects(const gtsam::SimWall2D& wall, gtsam::Point2* pt = nullptr) const; | ||||
| 
 | ||||
|   gtsam::Point2 norm() const; | ||||
|   gtsam::Rot2 reflection(const gtsam::Point2& init, const gtsam::Point2& intersection) const; | ||||
|  |  | |||
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