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Remove any unnecessary PriorFactor.h includes

release/4.3a0
alescontrela 2020-04-12 13:42:02 -04:00
parent 211119b00e
commit 93ba522582
7 changed files with 6 additions and 15 deletions
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1
examples/InverseKinematicsExampleExpressions.cpp
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@ -22,7 +22,6 @@
#include <gtsam/nonlinear/Marginals.h> #include <gtsam/nonlinear/Marginals.h>
#include <gtsam/nonlinear/expressions.h> #include <gtsam/nonlinear/expressions.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/slam/expressions.h> #include <gtsam/slam/expressions.h>
#include <cmath> #include <cmath>

1
examples/Pose2SLAMExampleExpressions.cpp
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@ -21,7 +21,6 @@
#include <gtsam/nonlinear/ExpressionFactorGraph.h> #include <gtsam/nonlinear/ExpressionFactorGraph.h>
// For an explanation of headers below, please see Pose2SLAMExample.cpp // For an explanation of headers below, please see Pose2SLAMExample.cpp
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
#include <gtsam/geometry/Pose2.h> #include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h> #include <gtsam/nonlinear/GaussNewtonOptimizer.h>

1
examples/Pose3SLAMExample_changeKeys.cpp
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@ -19,7 +19,6 @@
#include <gtsam/slam/dataset.h> #include <gtsam/slam/dataset.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <fstream> #include <fstream>
using namespace std; using namespace std;

7
examples/SimpleRotation.cpp
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@ -32,8 +32,8 @@
// In GTSAM, measurement functions are represented as 'factors'. Several common factors // In GTSAM, measurement functions are represented as 'factors'. Several common factors
// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems.
// We will apply a simple prior on the rotation // We will apply a simple prior on the rotation. We do so via the `addPrior` convenience
#include <gtsam/nonlinear/PriorFactor.h> // method in NonlinearFactorGraph.
// When the factors are created, we will add them to a Factor Graph. As the factors we are using // When the factors are created, we will add them to a Factor Graph. As the factors we are using
// are nonlinear factors, we will need a Nonlinear Factor Graph. // are nonlinear factors, we will need a Nonlinear Factor Graph.
@ -78,7 +78,6 @@ int main() {
prior.print("goal angle"); prior.print("goal angle");
noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(1, 1 * degree); noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(1, 1 * degree);
Symbol key('x',1); Symbol key('x',1);
PriorFactor<Rot2> factor(key, prior, model);
/** /**
* Step 2: Create a graph container and add the factor to it * Step 2: Create a graph container and add the factor to it
@ -90,7 +89,7 @@ int main() {
* many more factors would be added. * many more factors would be added.
*/ */
NonlinearFactorGraph graph; NonlinearFactorGraph graph;
graph.push_back(factor); graph.addPrior(key, prior, model);
graph.print("full graph"); graph.print("full graph");
/** /**

1
gtsam/geometry/triangulation.h
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@ -22,7 +22,6 @@
#include <gtsam/geometry/CameraSet.h> #include <gtsam/geometry/CameraSet.h>
#include <gtsam/geometry/Pose2.h> #include <gtsam/geometry/Pose2.h>
#include <gtsam/slam/TriangulationFactor.h> #include <gtsam/slam/TriangulationFactor.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/inference/Symbol.h> #include <gtsam/inference/Symbol.h>

9
gtsam/slam/tests/testOrientedPlane3Factor.cpp
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@ -17,7 +17,6 @@
*/ */
#include <gtsam/slam/OrientedPlane3Factor.h> #include <gtsam/slam/OrientedPlane3Factor.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/nonlinear/ISAM2.h> #include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/inference/Symbol.h> #include <gtsam/inference/Symbol.h>
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
@ -49,10 +48,9 @@ TEST (OrientedPlane3Factor, lm_translation_error) {
Pose3 init_pose(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); Pose3 init_pose(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0));
Vector sigmas(6); Vector sigmas(6);
sigmas << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001; sigmas << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001;
PriorFactor<Pose3> pose_prior(init_sym, init_pose, new_graph.addPrior(
noiseModel::Diagonal::Sigmas(sigmas)); init_sym, init_pose, noiseModel::Diagonal::Sigmas(sigmas));
new_values.insert(init_sym, init_pose); new_values.insert(init_sym, init_pose);
new_graph.add(pose_prior);
// Add two landmark measurements, differing in range // Add two landmark measurements, differing in range
new_values.insert(lm_sym, test_lm0); new_values.insert(lm_sym, test_lm0);
@ -94,11 +92,10 @@ TEST (OrientedPlane3Factor, lm_rotation_error) {
// Init pose and prior. Pose Prior is needed since a single plane measurement does not fully constrain the pose // Init pose and prior. Pose Prior is needed since a single plane measurement does not fully constrain the pose
Symbol init_sym('x', 0); Symbol init_sym('x', 0);
Pose3 init_pose(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0)); Pose3 init_pose(Rot3::Ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0));
PriorFactor<Pose3> pose_prior(init_sym, init_pose, new_graph.addPrior(init_sym, init_pose,
noiseModel::Diagonal::Sigmas( noiseModel::Diagonal::Sigmas(
(Vector(6) << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001).finished())); (Vector(6) << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001).finished()));
new_values.insert(init_sym, init_pose); new_values.insert(init_sym, init_pose);
new_graph.add(pose_prior);
// // Add two landmark measurements, differing in angle // // Add two landmark measurements, differing in angle
new_values.insert(lm_sym, test_lm0); new_values.insert(lm_sym, test_lm0);

1
gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp
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@ -16,7 +16,6 @@
* @date Nov 2009 * @date Nov 2009
*/ */
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/ProjectionFactor.h> #include <gtsam/slam/ProjectionFactor.h>
#include <gtsam_unstable/slam/MultiProjectionFactor.h> #include <gtsam_unstable/slam/MultiProjectionFactor.h>