binary measurement wrap

gtsam.h

@@ -2568,10 +2568,12 @@ virtual class BetweenFactor : gtsam::NoiseModelFactor {
   void serialize() const;
 };
 
-
-
 #include <gtsam/nonlinear/NonlinearEquality.h>
-template<T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias}>
+template <T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2,
+               gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2,
+               gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera,
+               gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2,
+               gtsam::imuBias::ConstantBias}>
 virtual class NonlinearEquality : gtsam::NoiseModelFactor {
   // Constructor - forces exact evaluation
   NonlinearEquality(size_t j, const T& feasible);
@@ -2582,7 +2584,6 @@ virtual class NonlinearEquality : gtsam::NoiseModelFactor {
   void serialize() const;
 };
 
-
 #include <gtsam/sam/RangeFactor.h>
 template<POSE, POINT>
 virtual class RangeFactor : gtsam::NoiseModelFactor {
@@ -2880,6 +2881,41 @@ virtual class FrobeniusWormholeFactor : gtsam::NoiseModelFactor {
   Vector evaluateError(const gtsam::SOn& Q1, const gtsam::SOn& Q2);
 };
 
+#include <gtsam/sfm/BinaryMeasurement.h>
+template<T>
+class BinaryMeasurement {
+  BinaryMeasurement(size_t key1, size_t key2, const T& measured,
+                    const gtsam::noiseModel::Base* model);
+  size_t key1() const;
+  size_t key2() const;
+  T measured() const;
+};
+
+typedef gtsam::BinaryMeasurement<gtsam::Unit3> BinaryMeasurementUnit3;
+typedef gtsam::BinaryMeasurement<gtsam::Rot3> BinaryMeasurementRot3;
+
+// std::vector<gtsam::BinaryMeasurement<Unit3>::shared_ptr>
+class BinaryMeasurementUnit3s
+{
+  BinaryMeasurementUnit3s();
+  size_t size() const;
+  gtsam::BinaryMeasurementUnit3* at(size_t i) const;
+  void push_back(const gtsam::BinaryMeasurementUnit3* measurement);
+};
+
+// std::vector<gtsam::BinaryMeasurement<Rot3>::shared_ptr>
+class BinaryMeasurementRot3s
+{
+  BinaryMeasurementRot3s();
+  size_t size() const;
+  gtsam::BinaryMeasurementRot3* at(size_t i) const;
+  void push_back(const gtsam::BinaryMeasurementRot3* measurement);
+};
+
+#include <gtsam/sfm/TranslationRecovery.h>
+class TranslationRecovery {
+  TranslationRecovery()
+}
 //*************************************************************************
 // Navigation
 //*************************************************************************

gtsam/sfm/BinaryMeasurement.h

@@ -91,4 +91,7 @@ public:
       return measured_;
     }
   }; // \class BetweenMeasurement
+
+  using BinaryMeasurementUnit3s = std::vector<gtsam::BinaryMeasurement<Unit3>::shared_ptr>;
+  using BinaryMeasurementRot3s = std::vector<gtsam::BinaryMeasurement<Rot3>::shared_ptr>;
 }