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Got rid of doxygen warnings...

release/4.3a0
Frank Dellaert 2012-01-24 03:06:01 +00:00
parent 210d0612d0
commit 7aa6a04572
1 changed files with 15 additions and 8 deletions
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23
gtsam/slam/visualSLAM.h
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@ -19,16 +19,16 @@
#pragma once #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/Key.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/TupleValues.h> #include <gtsam/nonlinear/TupleValues.h>
#include <gtsam/nonlinear/NonlinearEquality.h> #include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/NonlinearOptimizer.h> #include <gtsam/nonlinear/NonlinearOptimizer.h>
#include <gtsam/slam/PriorFactor.h> #include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/slam/StereoFactor.h>
#include <gtsam/slam/RangeFactor.h>
namespace gtsam { namespace gtsam {
@ -104,7 +104,7 @@ namespace gtsam {
/** /**
* Add a constraint on a point (for now, *must* be satisfied in any Values) * Add a constraint on a point (for now, *must* be satisfied in any Values)
* @param j index of landmark * @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()) { void addPointConstraint(int j, const Point3& p = Point3()) {
boost::shared_ptr<PointConstraint> factor(new PointConstraint(j, p)); boost::shared_ptr<PointConstraint> factor(new PointConstraint(j, p));
@ -114,7 +114,7 @@ namespace gtsam {
/** /**
* Add a prior on a pose * Add a prior on a pose
* @param j index of camera * @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 * @param model uncertainty model of this prior
*/ */
void addPosePrior(int j, const Pose3& p = Pose3(), const SharedNoiseModel& model = noiseModel::Unit::Create(6)) { 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 * Add a prior on a landmark
* @param j index of 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 * @param model uncertainty model of this prior
*/ */
void addPointPrior(int j, const Point3& p = Point3(), const SharedNoiseModel& model = noiseModel::Unit::Create(3)) { void addPointPrior(int j, const Point3& p = Point3(), const SharedNoiseModel& model = noiseModel::Unit::Create(3)) {
@ -133,6 +133,13 @@ namespace gtsam {
push_back(factor); 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)) { 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))); push_back(boost::shared_ptr<RangeFactor>(new RangeFactor(i, j, range, model)));
} }