Got rid of doxygen warnings...
parent
210d0612d0
commit
7aa6a04572
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@ -19,16 +19,16 @@
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#pragma once
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#include <gtsam/geometry/SimpleCamera.h>
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#include <gtsam/slam/PriorFactor.h>
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#include <gtsam/slam/ProjectionFactor.h>
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#include <gtsam/slam/StereoFactor.h>
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#include <gtsam/slam/RangeFactor.h>
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#include <gtsam/nonlinear/Key.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/TupleValues.h>
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#include <gtsam/nonlinear/NonlinearEquality.h>
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#include <gtsam/nonlinear/NonlinearOptimizer.h>
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#include <gtsam/slam/PriorFactor.h>
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#include <gtsam/slam/ProjectionFactor.h>
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#include <gtsam/slam/StereoFactor.h>
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#include <gtsam/slam/RangeFactor.h>
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#include <gtsam/geometry/SimpleCamera.h>
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namespace gtsam {
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@ -104,7 +104,7 @@ namespace gtsam {
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/**
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* Add a constraint on a point (for now, *must* be satisfied in any Values)
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* @param j index of landmark
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* @param p to which point to constrain it to
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* @param p point around which soft prior is defined
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*/
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void addPointConstraint(int j, const Point3& p = Point3()) {
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boost::shared_ptr<PointConstraint> factor(new PointConstraint(j, p));
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@ -114,7 +114,7 @@ namespace gtsam {
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/**
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* Add a prior on a pose
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* @param j index of camera
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* @param p to which pose to constrain it to
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* @param p around which soft prior is defined
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* @param model uncertainty model of this prior
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*/
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void addPosePrior(int j, const Pose3& p = Pose3(), const SharedNoiseModel& model = noiseModel::Unit::Create(6)) {
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@ -125,7 +125,7 @@ namespace gtsam {
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/**
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* Add a prior on a landmark
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* @param j index of landmark
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* @param p index of point
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* @param p to which point to constrain it to
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* @param model uncertainty model of this prior
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*/
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void addPointPrior(int j, const Point3& p = Point3(), const SharedNoiseModel& model = noiseModel::Unit::Create(3)) {
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@ -133,6 +133,13 @@ namespace gtsam {
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push_back(factor);
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}
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/**
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* Add a range prior to a landmark
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* @param i index of pose
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* @param j index of landmark
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* @param range approximate range to landmark
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* @param model uncertainty model of this prior
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*/
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void addRangeFactor(PoseKey i, PointKey j, double range, const SharedNoiseModel& model = noiseModel::Unit::Create(1)) {
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push_back(boost::shared_ptr<RangeFactor>(new RangeFactor(i, j, range, model)));
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}
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