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Moved regular factors (except implicit) to linear (they are not SLAM-specific)

release/4.3a0
dellaert 2015-02-22 15:32:05 +01:00
parent 6365dbaba5
commit 7bc0a9df5b
9 changed files with 31 additions and 6 deletions
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24
.cproject
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@ -2455,6 +2455,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="SFMExample_SmartFactorPCG.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j4</buildArguments>
<buildTarget>SFMExample_SmartFactorPCG.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -3047,6 +3055,22 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testRegularHessianFactor.run" path="build/gtsam/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j4</buildArguments>
<buildTarget>testRegularHessianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRegularJacobianFactor.run" path="build/gtsam/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j4</buildArguments>
<buildTarget>testRegularJacobianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testWrap.run" path="build/wrap/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testWrap.run" path="build/wrap/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>

0
gtsam/slam/RegularHessianFactor.h → gtsam/linear/RegularHessianFactor.h
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0
gtsam/slam/RegularJacobianFactor.h → gtsam/linear/RegularJacobianFactor.h
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2
gtsam/slam/tests/testRegularHessianFactor.cpp → gtsam/linear/tests/testRegularHessianFactor.cpp
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@ -15,7 +15,7 @@
* @date March 4, 2014 * @date March 4, 2014
*/ */
#include <gtsam/slam/RegularHessianFactor.h> #include <gtsam/linear/RegularHessianFactor.h>
#include <gtsam/linear/VectorValues.h> #include <gtsam/linear/VectorValues.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>

2
gtsam/slam/tests/testRegularJacobianFactor.cpp → gtsam/linear/tests/testRegularJacobianFactor.cpp
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@ -16,7 +16,7 @@
* @date Nov 12, 2014 * @date Nov 12, 2014
*/ */
#include <gtsam/slam/RegularJacobianFactor.h> #include <gtsam/linear/RegularJacobianFactor.h>
#include <gtsam/linear/GaussianFactorGraph.h> #include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/GaussianConditional.h> #include <gtsam/linear/GaussianConditional.h>
#include <gtsam/linear/VectorValues.h> #include <gtsam/linear/VectorValues.h>

2
gtsam/slam/JacobianFactorQ.h
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@ -17,7 +17,7 @@
#pragma once #pragma once
#include "RegularJacobianFactor.h" #include <gtsam/linear/RegularJacobianFactor.h>
namespace gtsam { namespace gtsam {
/** /**

2
gtsam/slam/JacobianFactorQR.h
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@ -6,9 +6,9 @@
*/ */
#pragma once #pragma once
#include <gtsam/slam/RegularJacobianFactor.h>
#include <gtsam/linear/GaussianFactorGraph.h> #include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/inference/Symbol.h> #include <gtsam/inference/Symbol.h>
#include <gtsam/linear/RegularJacobianFactor.h>
namespace gtsam { namespace gtsam {

2
gtsam/slam/JacobianFactorSVD.h
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@ -5,7 +5,7 @@
*/ */
#pragma once #pragma once
#include "gtsam/slam/RegularJacobianFactor.h" #include <gtsam/linear/RegularJacobianFactor.h>
namespace gtsam { namespace gtsam {
/** /**

3
gtsam/slam/SmartFactorBase.h
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@ -22,9 +22,9 @@
#include <gtsam/slam/JacobianFactorQ.h> #include <gtsam/slam/JacobianFactorQ.h>
#include <gtsam/slam/JacobianFactorSVD.h> #include <gtsam/slam/JacobianFactorSVD.h>
#include <gtsam/slam/RegularImplicitSchurFactor.h> #include <gtsam/slam/RegularImplicitSchurFactor.h>
#include <gtsam/slam/RegularHessianFactor.h>
#include <gtsam/nonlinear/NonlinearFactor.h> #include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/linear/RegularHessianFactor.h>
#include <gtsam/geometry/CameraSet.h> #include <gtsam/geometry/CameraSet.h>
#include <boost/optional.hpp> #include <boost/optional.hpp>
@ -55,6 +55,7 @@ protected:
*/ */
std::vector<Z> measured_; std::vector<Z> measured_;
//SharedIsotropic noiseModel_;
std::vector<SharedNoiseModel> noise_; ///< noise model used std::vector<SharedNoiseModel> noise_; ///< noise model used
boost::optional<Pose3> body_P_sensor_; ///< The pose of the sensor in the body frame (one for all cameras) boost::optional<Pose3> body_P_sensor_; ///< The pose of the sensor in the body frame (one for all cameras)