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binary measurement wrap

release/4.3a0
akrishnan86 2020-08-06 06:28:34 -07:00
parent ae5956bd10
commit 667fb9a4b9
2 changed files with 43 additions and 4 deletions
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44
gtsam.h
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@ -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
//*************************************************************************

3
gtsam/sfm/BinaryMeasurement.h
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@ -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>;
}