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Now are all RegularJacobianFactors

release/4.3a0
dellaert 2015-02-22 08:10:58 +01:00
parent e15cfb3d33
commit 82ce0b2406
3 changed files with 9 additions and 9 deletions
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6
gtsam/slam/JacobianFactorQ.h
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@ -17,16 +17,16 @@
#pragma once
#include "JacobianSchurFactor.h"
#include "RegularJacobianFactor.h"
namespace gtsam {
/**
* JacobianFactor for Schur complement that uses Q noise model
*/
template<size_t D, size_t ZDim>
class JacobianFactorQ: public JacobianSchurFactor<D> {
class JacobianFactorQ: public RegularJacobianFactor<D> {
typedef JacobianSchurFactor<D> Base;
typedef RegularJacobianFactor<D> Base;
typedef Eigen::Matrix<double, ZDim, D> MatrixZD;
typedef std::pair<Key, MatrixZD> KeyMatrixZD;

6
gtsam/slam/JacobianFactorQR.h
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@ -6,7 +6,7 @@
*/
#pragma once
#include <gtsam/slam/JacobianSchurFactor.h>
#include <gtsam/slam/RegularJacobianFactor.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/inference/Symbol.h>
@ -18,9 +18,9 @@ class GaussianBayesNet;
* JacobianFactor for Schur complement that uses Q noise model
*/
template<size_t D, size_t ZDim>
class JacobianFactorQR: public JacobianSchurFactor<D> {
class JacobianFactorQR: public RegularJacobianFactor<D> {
typedef JacobianSchurFactor<D> Base;
typedef RegularJacobianFactor<D> Base;
typedef Eigen::Matrix<double, ZDim, D> MatrixZD;
typedef std::pair<Key, MatrixZD> KeyMatrixZD;

6
gtsam/slam/JacobianFactorSVD.h
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@ -5,16 +5,16 @@
*/
#pragma once
#include "gtsam/slam/JacobianSchurFactor.h"
#include "gtsam/slam/RegularJacobianFactor.h"
namespace gtsam {
/**
* JacobianFactor for Schur complement that uses Q noise model
*/
template<size_t D, size_t ZDim>
class JacobianFactorSVD: public JacobianSchurFactor<D> {
class JacobianFactorSVD: public RegularJacobianFactor<D> {
typedef JacobianSchurFactor<D> Base;
typedef RegularJacobianFactor<D> Base;
typedef Eigen::Matrix<double, ZDim, D> MatrixZD; // e.g 2 x 6 with Z=Point2
typedef std::pair<Key, MatrixZD> KeyMatrixZD;
typedef std::pair<Key, Matrix> KeyMatrix;