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Fixed some merging errors

release/4.3a0
Richard Roberts 2012-02-06 00:57:05 +00:00
parent 811be62ed3
commit 7c7c3e3836
2 changed files with 10 additions and 12 deletions
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17
gtsam/slam/planarSLAM.h
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@ -33,15 +33,12 @@ namespace planarSLAM {
using namespace gtsam; using namespace gtsam;
/// Typedef for a PoseKey with Pose2 data and 'x' symbol
typedef TypedSymbol<Pose2, 'x'> PoseKey;
/// Typedef for a PointKey with Point2 data and 'l' symbol
typedef TypedSymbol<Point2, 'l'> PointKey;
/// Convenience function for constructing a pose key /// Convenience function for constructing a pose key
inline Symbol PoseKey(Index j) { return Symbol('x', j); } inline Symbol PoseKey(Index j) { return Symbol('x', j); }
/// Convenience function for constructing a pose key
inline Symbol PointKey(Index j) { return Symbol('l', j); }
/* /*
* List of typedefs for factors * List of typedefs for factors
*/ */
@ -72,16 +69,16 @@ namespace planarSLAM {
} }
/// get a pose /// get a pose
Pose2 pose(int key) const { return (*this)[PoseKey(key)]; } Pose2 pose(Index key) const { return at<Pose2>(PoseKey(key)); }
/// get a point /// get a point
Point2 point(int key) const { return (*this)[PointKey(key)]; } Point2 point(Index key) const { return at<Point2>(PointKey(key)); }
/// insert a pose /// insert a pose
void insertPose(int key, const Pose2& pose) {insert(PoseKey(key), pose); } void insertPose(Index key, const Pose2& pose) { insert(PoseKey(key), pose); }
/// insert a point /// insert a point
void insertPoint(int key, const Point2& point) {insert(PointKey(key), point); } void insertPoint(Index key, const Point2& point) { insert(PointKey(key), point); }
}; };
/// Creates a NonlinearFactorGraph with the Values type /// Creates a NonlinearFactorGraph with the Values type

5
gtsam/slam/pose2SLAM.h
View File

@ -35,6 +35,7 @@ namespace pose2SLAM {
/// Convenience function for constructing a pose key /// Convenience function for constructing a pose key
inline Symbol PoseKey(Index j) { return Symbol('x', j); } inline Symbol PoseKey(Index j) { return Symbol('x', j); }
/// Values class, inherited from Values, using PoseKeys, mainly used as a convenience for MATLAB wrapper /// Values class, inherited from Values, using PoseKeys, mainly used as a convenience for MATLAB wrapper
struct Values: public gtsam::Values { struct Values: public gtsam::Values {
@ -49,10 +50,10 @@ namespace pose2SLAM {
// Convenience for MATLAB wrapper, which does not allow for identically named methods // Convenience for MATLAB wrapper, which does not allow for identically named methods
/// get a pose /// get a pose
Pose2 pose(int key) const { return (*this)[PoseKey(key)]; } Pose2 pose(Index key) const { return at<Pose2>(PoseKey(key)); }
/// insert a pose /// insert a pose
void insertPose(int key, const Pose2& pose) { insert(PoseKey(key), pose); } void insertPose(Index key, const Pose2& pose) { insert(PoseKey(key), pose); }
}; };
/** /**