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Fixed doxygen warnings

release/4.3a0
Richard Roberts 2012-06-07 04:54:40 +00:00
parent ecd5862a90
commit 8e39e6b656
49 changed files with 83 additions and 93 deletions
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2
gtsam/base/FastList.h
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@ -31,7 +31,7 @@ namespace gtsam {
* convenience to avoid having lengthy types in the code. Through timing, * convenience to avoid having lengthy types in the code. Through timing,
* we've seen that the fast_pool_allocator can lead to speedups of several * we've seen that the fast_pool_allocator can lead to speedups of several
* percent. * percent.
* @ingroup base * @addtogroup base
*/ */
template<typename VALUE> template<typename VALUE>
class FastList: public std::list<VALUE, boost::fast_pool_allocator<VALUE> > { class FastList: public std::list<VALUE, boost::fast_pool_allocator<VALUE> > {

2
gtsam/base/FastMap.h
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@ -31,7 +31,7 @@ namespace gtsam {
* convenience to avoid having lengthy types in the code. Through timing, * convenience to avoid having lengthy types in the code. Through timing,
* we've seen that the fast_pool_allocator can lead to speedups of several * we've seen that the fast_pool_allocator can lead to speedups of several
* percent. * percent.
* @ingroup base * @addtogroup base
*/ */
template<typename KEY, typename VALUE> template<typename KEY, typename VALUE>
class FastMap : public std::map<KEY, VALUE, std::less<KEY>, boost::fast_pool_allocator<std::pair<const KEY, VALUE> > > { class FastMap : public std::map<KEY, VALUE, std::less<KEY>, boost::fast_pool_allocator<std::pair<const KEY, VALUE> > > {

2
gtsam/base/FastSet.h
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@ -42,7 +42,7 @@ struct FastSetTestableHelper;
* fast_pool_allocator instead of the default STL allocator. This is just a * fast_pool_allocator instead of the default STL allocator. This is just a
* convenience to avoid having lengthy types in the code. Through timing, * convenience to avoid having lengthy types in the code. Through timing,
* we've seen that the fast_pool_allocator can lead to speedups of several %. * we've seen that the fast_pool_allocator can lead to speedups of several %.
* @ingroup base * @addtogroup base
*/ */
template<typename VALUE, class ENABLE = void> template<typename VALUE, class ENABLE = void>
class FastSet: public std::set<VALUE, std::less<VALUE>, boost::fast_pool_allocator<VALUE> > { class FastSet: public std::set<VALUE, std::less<VALUE>, boost::fast_pool_allocator<VALUE> > {

2
gtsam/base/FastVector.h
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@ -30,7 +30,7 @@ namespace gtsam {
* pool_allocator instead of the default STL allocator. This is just a * pool_allocator instead of the default STL allocator. This is just a
* convenience to avoid having lengthy types in the code. Through timing, * convenience to avoid having lengthy types in the code. Through timing,
* we've seen that the pool_allocator can lead to speedups of several % * we've seen that the pool_allocator can lead to speedups of several %
* @ingroup base * @addtogroup base
*/ */
template<typename VALUE> template<typename VALUE>
class FastVector: public std::vector<VALUE, boost::pool_allocator<VALUE> > { class FastVector: public std::vector<VALUE, boost::pool_allocator<VALUE> > {

2
gtsam/base/Testable.h
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@ -46,7 +46,7 @@ namespace gtsam {
* tests and in generic algorithms. * tests and in generic algorithms.
* *
* See macros for details on using this structure * See macros for details on using this structure
* @ingroup base * @addtogroup base
* @tparam T is the type this constrains to be testable - assumes print() and equals() * @tparam T is the type this constrains to be testable - assumes print() and equals()
*/ */
template <class T> template <class T>

4
gtsam/base/blockMatrices.h
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@ -40,7 +40,7 @@ template<class MATRIX> class SymmetricBlockView;
* all rows, rowEnd() should be set to the number of rows in the matrix (i.e. * all rows, rowEnd() should be set to the number of rows in the matrix (i.e.
* one after the last true row index). * one after the last true row index).
* *
* @ingroup base * @addtogroup base
*/ */
template<class MATRIX> template<class MATRIX>
class VerticalBlockView { class VerticalBlockView {
@ -330,7 +330,7 @@ private:
* change the apparent matrix view. firstBlock() determines the block that * change the apparent matrix view. firstBlock() determines the block that
* appears to have index 0 for all operations (except re-setting firstBlock()). * appears to have index 0 for all operations (except re-setting firstBlock()).
* *
* @ingroup base * @addtogroup base
*/ */
template<class MATRIX> template<class MATRIX>
class SymmetricBlockView { class SymmetricBlockView {

2
gtsam/base/types.h
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@ -14,7 +14,7 @@
* @brief Typedefs for easier changing of types * @brief Typedefs for easier changing of types
* @author Richard Roberts * @author Richard Roberts
* @date Aug 21, 2010 * @date Aug 21, 2010
* @defgroup base * @addtogroup base
*/ */
#pragma once #pragma once

2
gtsam/geometry/Cal3Bundler.h
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@ -25,7 +25,7 @@ namespace gtsam {
/** /**
* @brief Calibration used by Bundler * @brief Calibration used by Bundler
* @ingroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class Cal3Bundler : public DerivedValue<Cal3Bundler> { class Cal3Bundler : public DerivedValue<Cal3Bundler> {

2
gtsam/geometry/Cal3DS2.h
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@ -25,7 +25,7 @@ namespace gtsam {
/** /**
* @brief Calibration of a camera with radial distortion * @brief Calibration of a camera with radial distortion
* @ingroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class Cal3DS2 : public DerivedValue<Cal3DS2> { class Cal3DS2 : public DerivedValue<Cal3DS2> {

4
gtsam/geometry/Cal3_S2.h
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@ -16,7 +16,7 @@
*/ */
/** /**
* @defgroup geometry * @addtogroup geometry
*/ */
#pragma once #pragma once
@ -28,7 +28,7 @@ namespace gtsam {
/** /**
* @brief The most common 5DOF 3D->2D calibration * @brief The most common 5DOF 3D->2D calibration
* @ingroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class Cal3_S2 : public DerivedValue<Cal3_S2> { class Cal3_S2 : public DerivedValue<Cal3_S2> {

2
gtsam/geometry/Cal3_S2Stereo.h
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@ -23,7 +23,7 @@ namespace gtsam {
/** /**
* @brief The most common 5DOF 3D->2D calibration, stereo version * @brief The most common 5DOF 3D->2D calibration, stereo version
* @ingroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class Cal3_S2Stereo { class Cal3_S2Stereo {

2
gtsam/geometry/CalibratedCamera.h
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@ -33,7 +33,7 @@ namespace gtsam {
* A Calibrated camera class [R|-R't], calibration K=I. * A Calibrated camera class [R|-R't], calibration K=I.
* If calibration is known, it is more computationally efficient * If calibration is known, it is more computationally efficient
* to calibrate the measurements rather than try to predict in pixels. * to calibrate the measurements rather than try to predict in pixels.
* @ingroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class CalibratedCamera : public DerivedValue<CalibratedCamera> { class CalibratedCamera : public DerivedValue<CalibratedCamera> {

2
gtsam/geometry/PinholeCamera.h
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@ -33,7 +33,7 @@ namespace gtsam {
/** /**
* A pinhole camera class that has a Pose3 and a Calibration. * A pinhole camera class that has a Pose3 and a Calibration.
* @ingroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
template <typename Calibration> template <typename Calibration>

2
gtsam/geometry/Point2.h
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@ -29,7 +29,7 @@ namespace gtsam {
* A 2D point * A 2D point
* Complies with the Testable Concept * Complies with the Testable Concept
* Functional, so no set functions: once created, a point is constant. * Functional, so no set functions: once created, a point is constant.
* @ingroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class Point2 : public DerivedValue<Point2> { class Point2 : public DerivedValue<Point2> {

2
gtsam/geometry/Point3.h
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@ -32,7 +32,7 @@ namespace gtsam {
/** /**
* A 3D point * A 3D point
* @ingroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class Point3 : public DerivedValue<Point3> { class Point3 : public DerivedValue<Point3> {

2
gtsam/geometry/Pose2.h
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@ -30,7 +30,7 @@ namespace gtsam {
/** /**
* A 2D pose (Point2,Rot2) * A 2D pose (Point2,Rot2)
* @ingroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class Pose2 : public DerivedValue<Pose2> { class Pose2 : public DerivedValue<Pose2> {

2
gtsam/geometry/Pose3.h
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@ -32,7 +32,7 @@ namespace gtsam {
/** /**
* A 3D pose (R,t) : (Rot3,Point3) * A 3D pose (R,t) : (Rot3,Point3)
* @ingroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class Pose3 : public DerivedValue<Pose3> { class Pose3 : public DerivedValue<Pose3> {

2
gtsam/geometry/Rot2.h
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@ -28,7 +28,7 @@ namespace gtsam {
/** /**
* Rotation matrix * Rotation matrix
* NOTE: the angle theta is in radians unless explicitly stated * NOTE: the angle theta is in radians unless explicitly stated
* @ingroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class Rot2 : public DerivedValue<Rot2> { class Rot2 : public DerivedValue<Rot2> {

2
gtsam/geometry/Rot3.h
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@ -48,7 +48,7 @@ namespace gtsam {
* @brief A 3D rotation represented as a rotation matrix if the preprocessor * @brief A 3D rotation represented as a rotation matrix if the preprocessor
* symbol GTSAM_DEFAULT_QUATERNIONS is not defined, or as a quaternion if it * symbol GTSAM_DEFAULT_QUATERNIONS is not defined, or as a quaternion if it
* is defined. * is defined.
* @ingroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class Rot3 : public DerivedValue<Rot3> { class Rot3 : public DerivedValue<Rot3> {

2
gtsam/geometry/StereoCamera.h
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@ -28,7 +28,7 @@ namespace gtsam {
/** /**
* A stereo camera class, parameterize by left camera pose and stereo calibration * A stereo camera class, parameterize by left camera pose and stereo calibration
* @ingroup geometry * @addtogroup geometry
*/ */
class StereoCamera { class StereoCamera {

2
gtsam/geometry/StereoPoint2.h
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@ -25,7 +25,7 @@ namespace gtsam {
/** /**
* A 2D stereo point, v will be same for rectified images * A 2D stereo point, v will be same for rectified images
* @ingroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
class StereoPoint2 : public DerivedValue<StereoPoint2> { class StereoPoint2 : public DerivedValue<StereoPoint2> {

2
gtsam/geometry/Tensor1.h
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@ -23,7 +23,7 @@ namespace tensors {
/** /**
* A rank 1 tensor. Actually stores data. * A rank 1 tensor. Actually stores data.
* @ingroup tensors * @addtogroup tensors
* \nosubgrouping * \nosubgrouping
*/ */
template<int N> template<int N>

2
gtsam/geometry/Tensor1Expression.h
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@ -29,7 +29,7 @@ namespace tensors {
* Templated class to provide a rank 1 tensor interface to a class. * Templated class to provide a rank 1 tensor interface to a class.
* This class does not store any data but the result of an expression. * This class does not store any data but the result of an expression.
* It is associated with an index. * It is associated with an index.
* @ingroup tensors * @addtogroup tensors
* \nosubgrouping * \nosubgrouping
*/ */
template<class A, class I> class Tensor1Expression { template<class A, class I> class Tensor1Expression {

2
gtsam/geometry/Tensor2.h
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@ -23,7 +23,7 @@ namespace tensors {
/** /**
* Rank 2 Tensor * Rank 2 Tensor
* @ingroup tensors * @addtogroup tensors
* \nosubgrouping * \nosubgrouping
*/ */
template<int N1, int N2> template<int N1, int N2>

2
gtsam/geometry/Tensor2Expression.h
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@ -26,7 +26,7 @@ namespace tensors {
/** /**
* Templated class to hold a rank 2 tensor expression. * Templated class to hold a rank 2 tensor expression.
* @ingroup tensors * @addtogroup tensors
* \nosubgrouping * \nosubgrouping
*/ */
template<class A, class I, class J> class Tensor2Expression { template<class A, class I, class J> class Tensor2Expression {

2
gtsam/geometry/Tensor3.h
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@ -23,7 +23,7 @@ namespace tensors {
/** /**
* Rank 3 Tensor * Rank 3 Tensor
* @ingroup tensors * @addtogroup tensors
* \nosubgrouping * \nosubgrouping
*/ */
template<int N1, int N2, int N3> template<int N1, int N2, int N3>

2
gtsam/geometry/Tensor3Expression.h
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@ -25,7 +25,7 @@ namespace tensors {
/** /**
* templated class to interface to an object A as a rank 3 tensor * templated class to interface to an object A as a rank 3 tensor
* @ingroup tensors * @addtogroup tensors
* \nosubgrouping * \nosubgrouping
*/ */
template<class A, class I, class J, class K> class Tensor3Expression { template<class A, class I, class J, class K> class Tensor3Expression {

2
gtsam/geometry/Tensor4.h
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@ -23,7 +23,7 @@ namespace tensors {
/** /**
* Rank 4 Tensor * Rank 4 Tensor
* @ingroup tensors * @addtogroup tensors
* \nosubgrouping * \nosubgrouping
*/ */
template<int N1, int N2, int N3, int N4> template<int N1, int N2, int N3, int N4>

2
gtsam/geometry/Tensor5.h
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@ -23,7 +23,7 @@ namespace tensors {
/** /**
* Rank 5 Tensor * Rank 5 Tensor
* @ingroup tensors * @addtogroup tensors
* \nosubgrouping * \nosubgrouping
*/ */
template<int N1, int N2, int N3, int N4, int N5> template<int N1, int N2, int N3, int N4, int N5>

2
gtsam/geometry/Tensor5Expression.h
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@ -25,7 +25,7 @@ namespace tensors {
/** /**
* templated class to interface to an object A as a rank 5 tensor * templated class to interface to an object A as a rank 5 tensor
* @ingroup tensors * @addtogroup tensors
* \nosubgrouping * \nosubgrouping
*/ */
template<class A, class I, class J, class K, class L, class M> class Tensor5Expression { template<class A, class I, class J, class K, class L, class M> class Tensor5Expression {

20
gtsam/geometry/projectiveGeometry.h
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@ -25,21 +25,21 @@ namespace gtsam {
/** /**
* 2D Point in homogeneous coordinates * 2D Point in homogeneous coordinates
* @ingroup geometry * @addtogroup geometry
*/ */
typedef tensors::Tensor1<3> Point2h; typedef tensors::Tensor1<3> Point2h;
Point2h point2h(double x, double y, double w); ///< create Point2h Point2h point2h(double x, double y, double w); ///< create Point2h
/** /**
* 2D Line in homogeneous coordinates * 2D Line in homogeneous coordinates
* @ingroup geometry * @addtogroup geometry
*/ */
typedef tensors::Tensor1<3> Line2h; typedef tensors::Tensor1<3> Line2h;
Line2h line2h(double a, double b, double c); ///< create Line2h Line2h line2h(double a, double b, double c); ///< create Line2h
/** /**
* 2D (homegeneous) Point correspondence * 2D (homegeneous) Point correspondence
* @ingroup geometry * @addtogroup geometry
*/ */
struct Correspondence { struct Correspondence {
Point2h first; ///< First point Point2h first; ///< First point
@ -63,19 +63,19 @@ namespace gtsam {
/** /**
* 2D-2D Homography * 2D-2D Homography
* @ingroup geometry * @addtogroup geometry
*/ */
typedef tensors::Tensor2<3, 3> Homography2; typedef tensors::Tensor2<3, 3> Homography2;
/** /**
* Fundamental Matrix * Fundamental Matrix
* @ingroup geometry * @addtogroup geometry
*/ */
typedef tensors::Tensor2<3, 3> FundamentalMatrix; typedef tensors::Tensor2<3, 3> FundamentalMatrix;
/** /**
* Triplet of (homogeneous) 2D points * Triplet of (homogeneous) 2D points
* @ingroup geometry * @addtogroup geometry
*/ */
struct Triplet { struct Triplet {
Point2h first; ///< First point Point2h first; ///< First point
@ -97,27 +97,27 @@ namespace gtsam {
/** /**
* Trifocal Tensor * Trifocal Tensor
* @ingroup geometry * @addtogroup geometry
*/ */
typedef tensors::Tensor3<3, 3, 3> TrifocalTensor; typedef tensors::Tensor3<3, 3, 3> TrifocalTensor;
/** /**
* 3D Point in homogeneous coordinates * 3D Point in homogeneous coordinates
* @ingroup geometry * @addtogroup geometry
*/ */
typedef tensors::Tensor1<4> Point3h; typedef tensors::Tensor1<4> Point3h;
Point3h point3h(double X, double Y, double Z, double W); ///< create Point3h Point3h point3h(double X, double Y, double Z, double W); ///< create Point3h
/** /**
* 3D Plane in homogeneous coordinates * 3D Plane in homogeneous coordinates
* @ingroup geometry * @addtogroup geometry
*/ */
typedef tensors::Tensor1<4> Plane3h; typedef tensors::Tensor1<4> Plane3h;
Plane3h plane3h(double a, double b, double c, double d); ///< create Plane3h Plane3h plane3h(double a, double b, double c, double d); ///< create Plane3h
/** /**
* 3D to 2D projective camera * 3D to 2D projective camera
* @ingroup geometry * @addtogroup geometry
*/ */
typedef tensors::Tensor2<3, 4> ProjectiveCamera; typedef tensors::Tensor2<3, 4> ProjectiveCamera;

2
gtsam/geometry/tensors.h
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@ -14,7 +14,7 @@
* @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf * @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
* @date Feb 10, 2010 * @date Feb 10, 2010
* @author Frank Dellaert * @author Frank Dellaert
* @defgroup tensors * @addtogroup tensors
*/ */
#pragma once #pragma once

10
gtsam/inference/BayesTree-inl.h
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@ -51,9 +51,9 @@ namespace gtsam {
return data; return data;
} }
/* ************************************************************************* */
template<class CONDITIONAL, class CLIQUE> template<class CONDITIONAL, class CLIQUE>
void BayesTree<CONDITIONAL,CLIQUE>::getCliqueData(CliqueData& data, void BayesTree<CONDITIONAL,CLIQUE>::getCliqueData(CliqueData& data, sharedClique clique) const {
typename BayesTree<CONDITIONAL,CLIQUE>::sharedClique clique) const {
data.conditionalSizes.push_back((*clique)->nrFrontals()); data.conditionalSizes.push_back((*clique)->nrFrontals());
data.separatorSizes.push_back((*clique)->nrParents()); data.separatorSizes.push_back((*clique)->nrParents());
BOOST_FOREACH(sharedClique c, clique->children_) { BOOST_FOREACH(sharedClique c, clique->children_) {
@ -64,7 +64,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<class CONDITIONAL, class CLIQUE> template<class CONDITIONAL, class CLIQUE>
void BayesTree<CONDITIONAL,CLIQUE>::saveGraph(const std::string &s) const { void BayesTree<CONDITIONAL,CLIQUE>::saveGraph(const std::string &s) const {
if (!root_.get()) throw invalid_argument("the root of bayes tree has not been initialized!"); if (!root_.get()) throw invalid_argument("the root of Bayes tree has not been initialized!");
ofstream of(s.c_str()); ofstream of(s.c_str());
of<< "digraph G{\n"; of<< "digraph G{\n";
saveGraph(of, root_); saveGraph(of, root_);
@ -73,9 +73,7 @@ namespace gtsam {
} }
template<class CONDITIONAL, class CLIQUE> template<class CONDITIONAL, class CLIQUE>
void BayesTree<CONDITIONAL,CLIQUE>::saveGraph(ostream &s, void BayesTree<CONDITIONAL,CLIQUE>::saveGraph(ostream &s, sharedClique clique, int parentnum) const {
typename BayesTree<CONDITIONAL,CLIQUE>::sharedClique clique,
int parentnum) const {
static int num = 0; static int num = 0;
bool first = true; bool first = true;
std::stringstream out; std::stringstream out;

2
gtsam/inference/BayesTree.h
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@ -46,7 +46,7 @@ namespace gtsam {
* @tparam CLIQUE The type of the clique data structure, defaults to BayesTreeClique, normally do not change this * @tparam CLIQUE The type of the clique data structure, defaults to BayesTreeClique, normally do not change this
* as it is only used when developing special versions of BayesTree, e.g. for ISAM2. * as it is only used when developing special versions of BayesTree, e.g. for ISAM2.
* *
* \ingroup Multifrontal * \addtogroup Multifrontal
* \nosubgrouping * \nosubgrouping
*/ */
template<class CONDITIONAL, class CLIQUE=BayesTreeClique<CONDITIONAL> > template<class CONDITIONAL, class CLIQUE=BayesTreeClique<CONDITIONAL> >

5
gtsam/inference/GenericMultifrontalSolver-inl.h
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@ -36,15 +36,14 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<class F, class JT> template<class F, class JT>
GenericMultifrontalSolver<F, JT>::GenericMultifrontalSolver( GenericMultifrontalSolver<F, JT>::GenericMultifrontalSolver(
const typename FactorGraph<F>::shared_ptr& graph, const sharedGraph& graph,
const VariableIndex::shared_ptr& variableIndex) : const VariableIndex::shared_ptr& variableIndex) :
structure_(variableIndex), junctionTree_(new JT(*graph, *structure_)) { structure_(variableIndex), junctionTree_(new JT(*graph, *structure_)) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
template<class F, class JT> template<class F, class JT>
void GenericMultifrontalSolver<F, JT>::replaceFactors( void GenericMultifrontalSolver<F, JT>::replaceFactors(const sharedGraph& graph) {
const typename FactorGraph<F>::shared_ptr& graph) {
junctionTree_.reset(new JT(*graph, *structure_)); junctionTree_.reset(new JT(*graph, *structure_));
} }

2
gtsam/inference/GenericSequentialSolver-inl.h
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@ -41,7 +41,7 @@ namespace gtsam {
template<class FACTOR> template<class FACTOR>
GenericSequentialSolver<FACTOR>::GenericSequentialSolver( GenericSequentialSolver<FACTOR>::GenericSequentialSolver(
const sharedFactorGraph& factorGraph, const sharedFactorGraph& factorGraph,
const VariableIndex::shared_ptr& variableIndex) : const boost::shared_ptr<VariableIndex>& variableIndex) :
factors_(factorGraph), structure_(variableIndex), factors_(factorGraph), structure_(variableIndex),
eliminationTree_(EliminationTree<FACTOR>::Create(*factors_, *structure_)) { eliminationTree_(EliminationTree<FACTOR>::Create(*factors_, *structure_)) {
} }

2
gtsam/inference/JunctionTree-inl.h
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@ -72,7 +72,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<class FG, class BTCLIQUE> template<class FG, class BTCLIQUE>
typename JunctionTree<FG,BTCLIQUE>::sharedClique JunctionTree<FG,BTCLIQUE>::distributeFactors( typename JunctionTree<FG,BTCLIQUE>::sharedClique JunctionTree<FG,BTCLIQUE>::distributeFactors(
const FG& fg, const typename SymbolicBayesTree::sharedClique& bayesClique) { const FG& fg, const SymbolicBayesTree::sharedClique& bayesClique) {
// Build "target" index. This is an index for each variable of the factors // Build "target" index. This is an index for each variable of the factors
// that involve this variable as their *lowest-ordered* variable. For each // that involve this variable as their *lowest-ordered* variable. For each

2
gtsam/inference/JunctionTree.h
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@ -47,7 +47,7 @@ namespace gtsam {
* except that in the JunctionTree, at each node multiple variables are eliminated at a time. * except that in the JunctionTree, at each node multiple variables are eliminated at a time.
* *
* *
* \ingroup Multifrontal * \addtogroup Multifrontal
* \nosubgrouping * \nosubgrouping
*/ */
template<class FG, class BTCLIQUE=typename BayesTree<typename FG::FactorType::ConditionalType>::Clique> template<class FG, class BTCLIQUE=typename BayesTree<typename FG::FactorType::ConditionalType>::Clique>

12
gtsam/linear/GaussianBayesTree.cpp
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@ -35,27 +35,27 @@ void optimizeInPlace(const GaussianBayesTree& bayesTree, VectorValues& result) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
VectorValues optimizeGradientSearch(const GaussianBayesTree& Rd) { VectorValues optimizeGradientSearch(const GaussianBayesTree& bayesTree) {
tic(0, "Allocate VectorValues"); tic(0, "Allocate VectorValues");
VectorValues grad = *allocateVectorValues(Rd); VectorValues grad = *allocateVectorValues(bayesTree);
toc(0, "Allocate VectorValues"); toc(0, "Allocate VectorValues");
optimizeGradientSearchInPlace(Rd, grad); optimizeGradientSearchInPlace(bayesTree, grad);
return grad; return grad;
} }
/* ************************************************************************* */ /* ************************************************************************* */
void optimizeGradientSearchInPlace(const GaussianBayesTree& Rd, VectorValues& grad) { void optimizeGradientSearchInPlace(const GaussianBayesTree& bayesTree, VectorValues& grad) {
tic(1, "Compute Gradient"); tic(1, "Compute Gradient");
// Compute gradient (call gradientAtZero function, which is defined for various linear systems) // Compute gradient (call gradientAtZero function, which is defined for various linear systems)
gradientAtZero(Rd, grad); gradientAtZero(bayesTree, grad);
double gradientSqNorm = grad.dot(grad); double gradientSqNorm = grad.dot(grad);
toc(1, "Compute Gradient"); toc(1, "Compute Gradient");
tic(2, "Compute R*g"); tic(2, "Compute R*g");
// Compute R * g // Compute R * g
FactorGraph<JacobianFactor> Rd_jfg(Rd); FactorGraph<JacobianFactor> Rd_jfg(bayesTree);
Errors Rg = Rd_jfg * grad; Errors Rg = Rd_jfg * grad;
toc(2, "Compute R*g"); toc(2, "Compute R*g");

7
gtsam/linear/GaussianBayesTree.h
View File

@ -25,13 +25,14 @@
namespace gtsam { namespace gtsam {
/// A Bayes Tree representing a Gaussian density
typedef BayesTree<GaussianConditional> GaussianBayesTree; typedef BayesTree<GaussianConditional> GaussianBayesTree;
/// optimize the BayesTree, starting from the root /// optimize the BayesTree, starting from the root
VectorValues optimize(const GaussianBayesTree& bayesTree); VectorValues optimize(const GaussianBayesTree& bayesTree);
/// recursively optimize this conditional and all subtrees /// recursively optimize this conditional and all subtrees
void optimizeInPlace(const GaussianBayesTree& clique, VectorValues& result); void optimizeInPlace(const GaussianBayesTree& bayesTree, VectorValues& result);
namespace internal { namespace internal {
template<class BAYESTREE> template<class BAYESTREE>
@ -63,10 +64,10 @@ void optimizeInPlace(const typename BAYESTREE::sharedClique& clique, VectorValue
* *
* \f[ \delta x = \hat\alpha g = \frac{-g^T g}{(R g)^T(R g)} \f] * \f[ \delta x = \hat\alpha g = \frac{-g^T g}{(R g)^T(R g)} \f]
*/ */
VectorValues optimizeGradientSearch(const GaussianBayesTree& bn); VectorValues optimizeGradientSearch(const GaussianBayesTree& bayesTree);
/** In-place version of optimizeGradientSearch requiring pre-allocated VectorValues \c x */ /** In-place version of optimizeGradientSearch requiring pre-allocated VectorValues \c x */
void optimizeGradientSearchInPlace(const GaussianBayesTree& bn, VectorValues& grad); void optimizeGradientSearchInPlace(const GaussianBayesTree& bayesTree, VectorValues& grad);
/** /**
* Compute the gradient of the energy function, * Compute the gradient of the energy function,

10
gtsam/linear/GaussianFactorGraph.h
View File

@ -202,7 +202,7 @@ namespace gtsam {
/** /**
* Combine and eliminate several factors. * Combine and eliminate several factors.
* \ingroup LinearSolving * \addtogroup LinearSolving
*/ */
JacobianFactor::shared_ptr CombineJacobians( JacobianFactor::shared_ptr CombineJacobians(
const FactorGraph<JacobianFactor>& factors, const FactorGraph<JacobianFactor>& factors,
@ -223,7 +223,7 @@ namespace gtsam {
* @param nrFrontals Number of frontal variables to eliminate. * @param nrFrontals Number of frontal variables to eliminate.
* @return The conditional and remaining factor * @return The conditional and remaining factor
* \ingroup LinearSolving * \addtogroup LinearSolving
*/ */
GaussianFactorGraph::EliminationResult EliminateJacobians(const FactorGraph< GaussianFactorGraph::EliminationResult EliminateJacobians(const FactorGraph<
JacobianFactor>& factors, size_t nrFrontals = 1); JacobianFactor>& factors, size_t nrFrontals = 1);
@ -238,7 +238,7 @@ namespace gtsam {
* @param nrFrontals Number of frontal variables to eliminate. * @param nrFrontals Number of frontal variables to eliminate.
* @return The conditional and remaining factor * @return The conditional and remaining factor
* \ingroup LinearSolving * \addtogroup LinearSolving
*/ */
GaussianFactorGraph::EliminationResult EliminateQR(const FactorGraph< GaussianFactorGraph::EliminationResult EliminateQR(const FactorGraph<
GaussianFactor>& factors, size_t nrFrontals = 1); GaussianFactor>& factors, size_t nrFrontals = 1);
@ -260,7 +260,7 @@ namespace gtsam {
* @param nrFrontals Number of frontal variables to eliminate. * @param nrFrontals Number of frontal variables to eliminate.
* @return The conditional and remaining factor * @return The conditional and remaining factor
* \ingroup LinearSolving * \addtogroup LinearSolving
*/ */
GaussianFactorGraph::EliminationResult EliminatePreferCholesky(const FactorGraph< GaussianFactorGraph::EliminationResult EliminatePreferCholesky(const FactorGraph<
GaussianFactor>& factors, size_t nrFrontals = 1); GaussianFactor>& factors, size_t nrFrontals = 1);
@ -281,7 +281,7 @@ namespace gtsam {
* @param nrFrontals Number of frontal variables to eliminate. * @param nrFrontals Number of frontal variables to eliminate.
* @return The conditional and remaining factor * @return The conditional and remaining factor
* \ingroup LinearSolving * \addtogroup LinearSolving
*/ */
GaussianFactorGraph::EliminationResult EliminateCholesky(const FactorGraph< GaussianFactorGraph::EliminationResult EliminateCholesky(const FactorGraph<
GaussianFactor>& factors, size_t nrFrontals = 1); GaussianFactor>& factors, size_t nrFrontals = 1);

2
gtsam/linear/GaussianJunctionTree.h
View File

@ -35,7 +35,7 @@ namespace gtsam {
* create a BayesTree<GaussianConditional>. In both cases, you need to provide a basic * create a BayesTree<GaussianConditional>. In both cases, you need to provide a basic
* GaussianFactorGraph::Eliminate function that will be used to * GaussianFactorGraph::Eliminate function that will be used to
* *
* \ingroup Multifrontal * \addtogroup Multifrontal
*/ */
class GaussianJunctionTree: public JunctionTree<GaussianFactorGraph> { class GaussianJunctionTree: public JunctionTree<GaussianFactorGraph> {

14
gtsam/nonlinear/ISAM2.h
View File

@ -28,11 +28,7 @@
namespace gtsam { namespace gtsam {
/** /**
* @defgroup ISAM2 * @addtogroup ISAM2
*/
/**
* @ingroup ISAM2
* Parameters for ISAM2 using Gauss-Newton optimization. Either this class or * Parameters for ISAM2 using Gauss-Newton optimization. Either this class or
* ISAM2DoglegParams should be specified as the optimizationParams in * ISAM2DoglegParams should be specified as the optimizationParams in
* ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&). * ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&).
@ -47,7 +43,7 @@ struct ISAM2GaussNewtonParams {
}; };
/** /**
* @ingroup ISAM2 * @addtogroup ISAM2
* Parameters for ISAM2 using Dogleg optimization. Either this class or * Parameters for ISAM2 using Dogleg optimization. Either this class or
* ISAM2GaussNewtonParams should be specified as the optimizationParams in * ISAM2GaussNewtonParams should be specified as the optimizationParams in
* ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&). * ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&).
@ -69,7 +65,7 @@ struct ISAM2DoglegParams {
}; };
/** /**
* @ingroup ISAM2 * @addtogroup ISAM2
* Parameters for the ISAM2 algorithm. Default parameter values are listed below. * Parameters for the ISAM2 algorithm. Default parameter values are listed below.
*/ */
struct ISAM2Params { struct ISAM2Params {
@ -147,7 +143,7 @@ struct ISAM2Params {
}; };
/** /**
* @ingroup ISAM2 * @addtogroup ISAM2
* This struct is returned from ISAM2::update() and contains information about * This struct is returned from ISAM2::update() and contains information about
* the update that is useful for determining whether the solution is * the update that is useful for determining whether the solution is
* converging, and about how much work was required for the update. See member * converging, and about how much work was required for the update. See member
@ -315,7 +311,7 @@ private:
}; };
/** /**
* @ingroup ISAM2 * @addtogroup ISAM2
* Implementation of the full ISAM2 algorithm for incremental nonlinear optimization. * Implementation of the full ISAM2 algorithm for incremental nonlinear optimization.
* *
* The typical cycle of using this class to create an instance by providing ISAM2Params * The typical cycle of using this class to create an instance by providing ISAM2Params

8
gtsam/slam/planarSLAM.h
View File

@ -27,10 +27,6 @@
#include <gtsam/nonlinear/Marginals.h> #include <gtsam/nonlinear/Marginals.h>
#include <gtsam/geometry/Pose2.h> #include <gtsam/geometry/Pose2.h>
/**
* @defgroup SLAM
*/
// Use planarSLAM namespace for specific SLAM instance // Use planarSLAM namespace for specific SLAM instance
namespace planarSLAM { namespace planarSLAM {
@ -55,7 +51,7 @@ namespace planarSLAM {
/* /*
* Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper
* @ingroup SLAM * @addtogroup SLAM
*/ */
struct Values: public gtsam::Values { struct Values: public gtsam::Values {
@ -88,7 +84,7 @@ namespace planarSLAM {
/** /**
* Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper
* @ingroup SLAM * @addtogroup SLAM
*/ */
struct Graph: public NonlinearFactorGraph { struct Graph: public NonlinearFactorGraph {

4
gtsam/slam/pose2SLAM.h
View File

@ -32,7 +32,7 @@ namespace pose2SLAM {
/* /*
* Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper
* @ingroup SLAM * @addtogroup SLAM
*/ */
struct Values: public gtsam::Values { struct Values: public gtsam::Values {
@ -82,7 +82,7 @@ namespace pose2SLAM {
/** /**
* Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper
* @ingroup SLAM * @addtogroup SLAM
*/ */
struct Graph: public NonlinearFactorGraph { struct Graph: public NonlinearFactorGraph {

4
gtsam/slam/pose3SLAM.h
View File

@ -32,7 +32,7 @@ namespace pose3SLAM {
/* /*
* Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper
* @ingroup SLAM * @addtogroup SLAM
*/ */
struct Values: public gtsam::Values { struct Values: public gtsam::Values {
@ -77,7 +77,7 @@ namespace pose3SLAM {
/** /**
* Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper
* @ingroup SLAM * @addtogroup SLAM
*/ */
struct Graph: public NonlinearFactorGraph { struct Graph: public NonlinearFactorGraph {

2
gtsam_unstable/base/BTree.h
View File

@ -26,7 +26,7 @@ namespace gtsam {
/** /**
* @brief Binary tree * @brief Binary tree
* @ingroup base * @addtogroup base
*/ */
template<class KEY, class VALUE> template<class KEY, class VALUE>
class BTree { class BTree {

2
gtsam_unstable/base/DSF.h
View File

@ -34,7 +34,7 @@ namespace gtsam {
* S = {S_1,S_2,...} of disjoint dynamic sets. Each set is identified by * S = {S_1,S_2,...} of disjoint dynamic sets. Each set is identified by
* a representative, which is some member of the set. * a representative, which is some member of the set.
* *
* @ingroup base * @addtogroup base
*/ */
template <class KEY> template <class KEY>
class DSF : protected BTree<KEY, KEY> { class DSF : protected BTree<KEY, KEY> {

2
gtsam_unstable/base/DSFVector.h
View File

@ -27,7 +27,7 @@ namespace gtsam {
/** /**
* A fast implementation of disjoint set forests that uses vector as underly data structure. * A fast implementation of disjoint set forests that uses vector as underly data structure.
* @ingroup base * @addtogroup base
*/ */
class DSFVector { class DSFVector {