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Fixed references to dimension static member variables in constraints

release/4.3a0
Alex Cunningham 2010-08-19 21:29:43 +00:00
parent e5b3e127a8
commit 9367170fe5
2 changed files with 5 additions and 5 deletions
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8
nonlinear/NonlinearConstraint.h
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@ -399,12 +399,12 @@ public:
typedef boost::shared_ptr<NonlinearEquality1<Config, Key, X> > shared_ptr; typedef boost::shared_ptr<NonlinearEquality1<Config, Key, X> > shared_ptr;
NonlinearEquality1(const X& value, const Key& key1, double mu = 1000.0) NonlinearEquality1(const X& value, const Key& key1, double mu = 1000.0)
: Base(key1, X::dimension, mu), value_(value) {} : Base(key1, X::Dim(), mu), value_(value) {}
virtual ~NonlinearEquality1() {} virtual ~NonlinearEquality1() {}
/** g(x) with optional derivative */ /** g(x) with optional derivative */
Vector evaluateError(const X& x1, boost::optional<Matrix&> H1 = boost::none) const { Vector evaluateError(const X& x1, boost::optional<Matrix&> H1 = boost::none) const {
const size_t p = X::dimension; const size_t p = X::Dim();
if (H1) *H1 = eye(p); if (H1) *H1 = eye(p);
return logmap(value_, x1); return logmap(value_, x1);
} }
@ -425,14 +425,14 @@ public:
typedef boost::shared_ptr<NonlinearEquality2<Config, Key, X> > shared_ptr; typedef boost::shared_ptr<NonlinearEquality2<Config, Key, X> > shared_ptr;
NonlinearEquality2(const Key& key1, const Key& key2, double mu = 1000.0) NonlinearEquality2(const Key& key1, const Key& key2, double mu = 1000.0)
: Base(key1, key2, X::dimension, mu) {} : Base(key1, key2, X::Dim(), mu) {}
virtual ~NonlinearEquality2() {} virtual ~NonlinearEquality2() {}
/** g(x) with optional derivative2 */ /** g(x) with optional derivative2 */
Vector evaluateError(const X& x1, const X& x2, Vector evaluateError(const X& x1, const X& x2,
boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H1 = boost::none,
boost::optional<Matrix&> H2 = boost::none) const { boost::optional<Matrix&> H2 = boost::none) const {
const size_t p = X::dimension; const size_t p = X::Dim();
if (H1) *H1 = -eye(p); if (H1) *H1 = -eye(p);
if (H2) *H2 = eye(p); if (H2) *H2 = eye(p);
return logmap(x1, x2); return logmap(x1, x2);

2
slam/BetweenConstraint.h
View File

@ -26,7 +26,7 @@ namespace gtsam {
typedef boost::shared_ptr<BetweenConstraint<Config, Key, X> > shared_ptr; typedef boost::shared_ptr<BetweenConstraint<Config, Key, X> > shared_ptr;
BetweenConstraint(const X& measured, const Key& key1, const Key& key2, double mu = 1000.0) BetweenConstraint(const X& measured, const Key& key1, const Key& key2, double mu = 1000.0)
: Base(key1, key2, X::dimension, mu), measured_(measured) {} : Base(key1, key2, X::Dim(), mu), measured_(measured) {}
/** g(x) with optional derivative2 */ /** g(x) with optional derivative2 */
Vector evaluateError(const X& x1, const X& x2, Vector evaluateError(const X& x1, const X& x2,