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Symbol -> Key

release/4.3a0
dellaert 2015-02-17 00:30:31 +01:00
parent 754b770cad
commit 60e3ff536c
2 changed files with 6 additions and 9 deletions
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2
gtsam/slam/OrientedPlane3Factor.cpp
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@ -14,7 +14,7 @@ namespace gtsam {
//*************************************************************************** //***************************************************************************
void OrientedPlane3Factor::print(const string& s, void OrientedPlane3Factor::print(const string& s,
const KeyFormatter& keyFormatter) const { const KeyFormatter& keyFormatter) const {
cout << "OrientedPlane3Factor Factor on " << landmarkSymbol_ << "\n"; cout << "OrientedPlane3Factor Factor on " << landmarkKey_ << "\n";
measured_p_.print("Measured Plane"); measured_p_.print("Measured Plane");
this->noiseModel_->print(" noise model: "); this->noiseModel_->print(" noise model: ");
} }

13
gtsam/slam/OrientedPlane3Factor.h
View File

@ -9,9 +9,6 @@
#include <gtsam/geometry/OrientedPlane3.h> #include <gtsam/geometry/OrientedPlane3.h>
#include <gtsam/nonlinear/NonlinearFactor.h> #include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/Symbol.h>
#include <gtsam/inference/Key.h>
#include <iostream>
namespace gtsam { namespace gtsam {
@ -21,8 +18,8 @@ namespace gtsam {
class OrientedPlane3Factor: public NoiseModelFactor2<Pose3, OrientedPlane3> { class OrientedPlane3Factor: public NoiseModelFactor2<Pose3, OrientedPlane3> {
protected: protected:
Symbol poseSymbol_; Key poseKey_;
Symbol landmarkSymbol_; Key landmarkKey_;
Vector measured_coeffs_; Vector measured_coeffs_;
OrientedPlane3 measured_p_; OrientedPlane3 measured_p_;
@ -36,9 +33,9 @@ public:
/// Constructor with measured plane coefficients (a,b,c,d), noise model, pose symbol /// Constructor with measured plane coefficients (a,b,c,d), noise model, pose symbol
OrientedPlane3Factor(const Vector&z, const SharedGaussian& noiseModel, OrientedPlane3Factor(const Vector&z, const SharedGaussian& noiseModel,
const Symbol& pose, const Symbol& landmark) : const Key& pose, const Key& landmark) :
Base(noiseModel, pose, landmark), poseSymbol_(pose), landmarkSymbol_( Base(noiseModel, pose, landmark), poseKey_(pose), landmarkKey_(landmark), measured_coeffs_(
landmark), measured_coeffs_(z) { z) {
measured_p_ = OrientedPlane3(Unit3(z(0), z(1), z(2)), z(3)); measured_p_ = OrientedPlane3(Unit3(z(0), z(1), z(2)), z(3));
} }