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Added templates for PriorFactor and BetweenFactor to gtsam.h

release/4.3a0
Richard Roberts 2012-07-11 21:43:19 +00:00
parent c4f19a2b96
commit 8d661f6e86
1 changed files with 13 additions and 0 deletions
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13
gtsam.h
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@ -1084,6 +1084,19 @@ class LevenbergMarquardtParams {
void setVerbosityLM(string s); void setVerbosityLM(string s);
}; };
//*************************************************************************
// Nonlinear factor types
//*************************************************************************
template<T = {gtsam::LieVector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera}>
virtual class PriorFactor : gtsam::NonlinearFactor {
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
};
template<T = {gtsam::LieVector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
virtual class BetweenFactor : gtsam::NonlinearFactor {
BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
};
}///\namespace gtsam }///\namespace gtsam
//************************************************************************* //*************************************************************************