More cleanup
parent
bec4afa3f8
commit
68c9da8c4e
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@ -68,7 +68,7 @@ class GTSAM_EXPORT LabeledSymbol {
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}
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/// @}
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/// @name API
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/// @name Standard API
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/// @{
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/// Cast to Key
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@ -103,15 +103,13 @@ class GTSAM_EXPORT LabeledSymbol {
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bool operator!=(const LabeledSymbol& comp) const;
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bool operator!=(Key comp) const;
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/** Return a filter function that returns true when evaluated on a Key whose
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* character (when converted to a LabeledSymbol) matches \c c. Use this with
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* the Values::filter() function to retrieve all key-value pairs with the
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* requested character.
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*/
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/// @}
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/// @name Advanced API
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/// @name Filtering
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/// @{
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/// Return a filter function that returns true when evaluated on a Key whose
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/// character (when converted to a LabeledSymbol) matches \c c. Use this with
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/// the Values::filter() function to retrieve all key-value pairs with the
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/// requested character.
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/// Checks only the type
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static std::function<bool(Key)> TypeTest(unsigned char c);
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@ -123,6 +121,10 @@ class GTSAM_EXPORT LabeledSymbol {
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static std::function<bool(Key)> TypeLabelTest(unsigned char c,
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unsigned char label);
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/// @}
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/// @name Advanced API
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/// @{
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/// Converts to upper/lower versions of labels
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LabeledSymbol upper() const { return LabeledSymbol(c_, toupper(label_), j_); }
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LabeledSymbol lower() const { return LabeledSymbol(c_, tolower(label_), j_); }
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@ -152,20 +154,20 @@ class GTSAM_EXPORT LabeledSymbol {
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#endif
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}; // \class LabeledSymbol
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/** Create a symbol key from a character, label and index, i.e. xA5. */
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/// Create a symbol key from a character, label and index, i.e. xA5.
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inline Key mrsymbol(unsigned char c, unsigned char label, size_t j) {
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return (Key)LabeledSymbol(c, label, j);
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}
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/** Return the character portion of a symbol key. */
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/// Return the character portion of a symbol key.
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inline unsigned char mrsymbolChr(Key key) { return LabeledSymbol(key).chr(); }
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/** Return the label portion of a symbol key. */
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/// Return the label portion of a symbol key.
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inline unsigned char mrsymbolLabel(Key key) {
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return LabeledSymbol(key).label();
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}
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/** Return the index portion of a symbol key. */
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/// Return the index portion of a symbol key.
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inline size_t mrsymbolIndex(Key key) { return LabeledSymbol(key).index(); }
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/// traits
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@ -55,7 +55,7 @@ class TranslationFactor : public NoiseModelFactorN<Point3, Point3> {
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: Base(noiseModel, a, b), measured_w_aZb_(w_aZb.point3()) {}
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/**
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* @brief Caclulate error: (norm(Tb - Ta) - measurement)
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* @brief Calculate error: (norm(Tb - Ta) - measurement)
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* where Tb and Ta are Point3 translations and measurement is
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* the Unit3 translation direction from a to b.
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*
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@ -120,7 +120,7 @@ class BilinearAngleTranslationFactor
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using NoiseModelFactor2<Point3, Point3, Vector1>::evaluateError;
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/**
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* @brief Caclulate error: (scale * (Tb - Ta) - measurement)
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* @brief Calculate error: (scale * (Tb - Ta) - measurement)
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* where Tb and Ta are Point3 translations and measurement is
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* the Unit3 translation direction from a to b.
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*
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@ -119,7 +119,7 @@ class GTSAM_EXPORT TranslationRecovery {
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* @param betweenTranslations relative translations (with scale) between 2
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* points in world coordinate frame known a priori.
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* @param rng random number generator
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* @param intialValues (optional) initial values from a prior
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* @param initialValues (optional) initial values from a prior
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* @return Values
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*/
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Values initializeRandomly(
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@ -156,7 +156,7 @@ class GTSAM_EXPORT TranslationRecovery {
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* points in world coordinate frame known a priori. Unlike
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* relativeTranslations, zero-magnitude betweenTranslations are not treated as
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* hard constraints.
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* @param initialValues intial values for optimization. Initializes randomly
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* @param initialValues initial values for optimization. Initializes randomly
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* if not provided.
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* @return Values
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*/
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