12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
examples/InverseKinematicsExampleExpressions.cpp
View File

@ -22,7 +22,6 @@
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/slam/expressions.h>
#include <cmath>

1
examples/Pose2SLAMExampleExpressions.cpp
View File

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

1
examples/Pose3SLAMExample_changeKeys.cpp
View File

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

7
examples/SimpleRotation.cpp
View File

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

1
gtsam/geometry/triangulation.h
View File

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

9
gtsam/slam/tests/testOrientedPlane3Factor.cpp
View File

@ -17,7 +17,6 @@
*/
#include <gtsam/slam/OrientedPlane3Factor.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/inference/Symbol.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));
Vector sigmas(6);
sigmas << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001;
PriorFactor<Pose3> pose_prior(init_sym, init_pose,
noiseModel::Diagonal::Sigmas(sigmas));
new_graph.addPrior(
init_sym, init_pose, noiseModel::Diagonal::Sigmas(sigmas));
new_values.insert(init_sym, init_pose);
new_graph.add(pose_prior);
// Add two landmark measurements, differing in range
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
Symbol init_sym('x', 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(
(Vector(6) << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001).finished()));
new_values.insert(init_sym, init_pose);
new_graph.add(pose_prior);
// // Add two landmark measurements, differing in angle
new_values.insert(lm_sym, test_lm0);

1
gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp
View File

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