12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

define FindKarcherMean in .i file

release/4.3a0
John Lambert 2022-01-27 11:02:04 -07:00 committed by GitHub
parent 2f3fe7372a
commit 8a22ffa5f2
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 6 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
gtsam/slam/slam.i
View File

@ -316,13 +316,18 @@ class InitializePose3 {
static gtsam::Values initialize(const gtsam::NonlinearFactorGraph& graph); static gtsam::Values initialize(const gtsam::NonlinearFactorGraph& graph);
}; };
#include <gtsam/slam/KarcherMeanFactor-inl.h> #include <gtsam/slam/KarcherMeanFactor.h>
template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3, template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose3}> gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose3}>
virtual class KarcherMeanFactor : gtsam::NonlinearFactor { virtual class KarcherMeanFactor : gtsam::NonlinearFactor {
KarcherMeanFactor(const gtsam::KeyVector& keys); KarcherMeanFactor(const gtsam::KeyVector& keys);
}; };
template <class T>
T FindKarcherMean(const std::vector<T, Eigen::aligned_allocator<T>> &rotations);
template <class T> T FindKarcherMean(std::initializer_list<T> &&rotations);
class Rot3Vector { class Rot3Vector {
Rot3Vector(); Rot3Vector();
size_t size() const; size_t size() const;