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isUnit

release/4.3a0
Frank Dellaert 2015-06-07 20:54:03 -07:00
parent e0f6570f8f
commit 73a09c508d
1 changed files with 9 additions and 7 deletions
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16
gtsam/linear/NoiseModel.h
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@ -62,10 +62,11 @@ namespace gtsam {
Base(size_t dim = 1):dim_(dim) {} Base(size_t dim = 1):dim_(dim) {}
virtual ~Base() {} virtual ~Base() {}
/// true if a constrained noise mode, saves slow/clumsy dynamic casting /// true if a constrained noise model, saves slow/clumsy dynamic casting
virtual bool isConstrained() const { virtual bool isConstrained() const { return false; } // default false
return false; // default false
} /// true if a unit noise model, saves slow/clumsy dynamic casting
virtual bool isUnit() const { return false; } // default false
/// Dimensionality /// Dimensionality
inline size_t dim() const { return dim_;} inline size_t dim() const { return dim_;}
@ -390,9 +391,7 @@ namespace gtsam {
virtual ~Constrained() {} virtual ~Constrained() {}
/// true if a constrained noise mode, saves slow/clumsy dynamic casting /// true if a constrained noise mode, saves slow/clumsy dynamic casting
virtual bool isConstrained() const { virtual bool isConstrained() const { return true; }
return true;
}
/// Return true if a particular dimension is free or constrained /// Return true if a particular dimension is free or constrained
bool constrained(size_t i) const; bool constrained(size_t i) const;
@ -590,6 +589,9 @@ namespace gtsam {
return shared_ptr(new Unit(dim)); return shared_ptr(new Unit(dim));
} }
/// true if a unit noise model, saves slow/clumsy dynamic casting
virtual bool isUnit() const { return true; }
virtual void print(const std::string& name) const; virtual void print(const std::string& name) const;
virtual double Mahalanobis(const Vector& v) const {return v.dot(v); } virtual double Mahalanobis(const Vector& v) const {return v.dot(v); }
virtual Vector whiten(const Vector& v) const { return v; } virtual Vector whiten(const Vector& v) const { return v; }