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Make smart parameters public. Now easier to set, and it's sufficient for this to be const within the smart factor itself!

release/4.3a0
cbeall3 2015-08-19 10:58:19 -04:00
parent c8df985e2f
commit 8b4228fa56
2 changed files with 11 additions and 14 deletions
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12
gtsam/slam/SmartProjectionFactor.h
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@ -44,23 +44,21 @@ enum DegeneracyMode {
/* /*
* Parameters for the smart projection factors * Parameters for the smart projection factors
*/ */
class GTSAM_EXPORT SmartProjectionParams { struct GTSAM_EXPORT SmartProjectionParams {
public:
LinearizationMode linearizationMode; ///< How to linearize the factor LinearizationMode linearizationMode; ///< How to linearize the factor
DegeneracyMode degeneracyMode; ///< How to linearize the factor DegeneracyMode degeneracyMode; ///< How to linearize the factor
/// @name Parameters governing the triangulation /// @name Parameters governing the triangulation
/// @{ /// @{
mutable TriangulationParameters triangulation; TriangulationParameters triangulation;
const double retriangulationThreshold; ///< threshold to decide whether to re-triangulate double retriangulationThreshold; ///< threshold to decide whether to re-triangulate
/// @} /// @}
/// @name Parameters governing how triangulation result is treated /// @name Parameters governing how triangulation result is treated
/// @{ /// @{
const bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false) bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false)
const bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false) bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false)
/// @} /// @}
// Constructor // Constructor

13
gtsam_unstable/slam/SmartStereoProjectionFactor.h
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@ -15,6 +15,7 @@
* @author Luca Carlone * @author Luca Carlone
* @author Zsolt Kira * @author Zsolt Kira
* @author Frank Dellaert * @author Frank Dellaert
* @author Chris Beall
*/ */
#pragma once #pragma once
@ -47,23 +48,21 @@ enum DegeneracyMode {
/* /*
* Parameters for the smart stereo projection factors * Parameters for the smart stereo projection factors
*/ */
class GTSAM_EXPORT SmartStereoProjectionParams { struct GTSAM_EXPORT SmartStereoProjectionParams {
public:
LinearizationMode linearizationMode; ///< How to linearize the factor LinearizationMode linearizationMode; ///< How to linearize the factor
DegeneracyMode degeneracyMode; ///< How to linearize the factor DegeneracyMode degeneracyMode; ///< How to linearize the factor
/// @name Parameters governing the triangulation /// @name Parameters governing the triangulation
/// @{ /// @{
mutable TriangulationParameters triangulation; TriangulationParameters triangulation;
const double retriangulationThreshold; ///< threshold to decide whether to re-triangulate double retriangulationThreshold; ///< threshold to decide whether to re-triangulate
/// @} /// @}
/// @name Parameters governing how triangulation result is treated /// @name Parameters governing how triangulation result is treated
/// @{ /// @{
const bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false) bool throwCheirality; ///< If true, re-throws Cheirality exceptions (default: false)
const bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false) bool verboseCheirality; ///< If true, prints text for Cheirality exceptions (default: false)
/// @} /// @}