Got rid of doxygen warnings...
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				|  | @ -19,16 +19,16 @@ | |||
| 
 | ||||
| #pragma once | ||||
| 
 | ||||
| #include <gtsam/geometry/SimpleCamera.h> | ||||
| #include <gtsam/slam/PriorFactor.h> | ||||
| #include <gtsam/slam/ProjectionFactor.h> | ||||
| #include <gtsam/slam/StereoFactor.h> | ||||
| #include <gtsam/slam/RangeFactor.h> | ||||
| #include <gtsam/nonlinear/Key.h> | ||||
| #include <gtsam/nonlinear/NonlinearFactorGraph.h> | ||||
| #include <gtsam/nonlinear/TupleValues.h> | ||||
| #include <gtsam/nonlinear/NonlinearEquality.h> | ||||
| #include <gtsam/nonlinear/NonlinearOptimizer.h> | ||||
| #include <gtsam/slam/PriorFactor.h> | ||||
| #include <gtsam/slam/ProjectionFactor.h> | ||||
| #include <gtsam/slam/StereoFactor.h> | ||||
| #include <gtsam/slam/RangeFactor.h> | ||||
| #include <gtsam/geometry/SimpleCamera.h> | ||||
| 
 | ||||
| namespace gtsam { | ||||
| 
 | ||||
|  | @ -104,7 +104,7 @@ namespace gtsam { | |||
|     /**
 | ||||
|      *  Add a constraint on a point (for now, *must* be satisfied in any Values) | ||||
|      *  @param j index of landmark | ||||
|      *  @param p to which point to constrain it to | ||||
|      *  @param p point around which soft prior is defined | ||||
|      */ | ||||
|     void addPointConstraint(int j, const Point3& p = Point3()) { | ||||
|       boost::shared_ptr<PointConstraint> factor(new PointConstraint(j, p)); | ||||
|  | @ -114,7 +114,7 @@ namespace gtsam { | |||
|     /**
 | ||||
|      *  Add a prior on a pose | ||||
|      *  @param j index of camera | ||||
|      *  @param p to which pose to constrain it to | ||||
|      *  @param p around which soft prior is defined | ||||
|      *  @param model uncertainty model of this prior | ||||
|      */ | ||||
|     void addPosePrior(int j, const Pose3& p = Pose3(), const SharedNoiseModel& model = noiseModel::Unit::Create(6)) { | ||||
|  | @ -125,7 +125,7 @@ namespace gtsam { | |||
|     /**
 | ||||
|      *  Add a prior on a landmark | ||||
|      *  @param j index of landmark | ||||
|      *  @param p index of point | ||||
|      *  @param p to which point to constrain it to | ||||
|      *  @param model uncertainty model of this prior | ||||
|      */ | ||||
|     void addPointPrior(int j, const Point3& p = Point3(), const SharedNoiseModel& model = noiseModel::Unit::Create(3)) { | ||||
|  | @ -133,6 +133,13 @@ namespace gtsam { | |||
|       push_back(factor); | ||||
|     } | ||||
| 
 | ||||
|     /**
 | ||||
|      *  Add a range prior to a landmark | ||||
|      *  @param i index of pose | ||||
|      *  @param j index of landmark | ||||
|      *  @param range approximate range to landmark | ||||
|      *  @param model uncertainty model of this prior | ||||
|      */ | ||||
|     void addRangeFactor(PoseKey i, PointKey j, double range, const SharedNoiseModel& model = noiseModel::Unit::Create(1)) { | ||||
|       push_back(boost::shared_ptr<RangeFactor>(new RangeFactor(i, j, range, model))); | ||||
|     } | ||||
|  |  | |||
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