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Added default arguments for noisemodels on functions to add jacobians directly

release/4.3a0
Alex Cunningham 2013-09-05 21:06:46 +00:00
parent 2d554a7b77
commit 94ebfb4fb3
1 changed files with 4 additions and 4 deletions
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8
gtsam/linear/GaussianFactorGraph.h
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@ -107,25 +107,25 @@ namespace gtsam {
/** Add a unary factor */
void add(Key key1, const Matrix& A1,
const Vector& b, const SharedDiagonal& model) {
const Vector& b, const SharedDiagonal& model = SharedDiagonal()) {
add(JacobianFactor(key1,A1,b,model)); }
/** Add a binary factor */
void add(Key key1, const Matrix& A1,
Key key2, const Matrix& A2,
const Vector& b, const SharedDiagonal& model) {
const Vector& b, const SharedDiagonal& model = SharedDiagonal()) {
add(JacobianFactor(key1,A1,key2,A2,b,model)); }
/** Add a ternary factor */
void add(Key key1, const Matrix& A1,
Key key2, const Matrix& A2,
Key key3, const Matrix& A3,
const Vector& b, const SharedDiagonal& model) {
const Vector& b, const SharedDiagonal& model = SharedDiagonal()) {
add(JacobianFactor(key1,A1,key2,A2,key3,A3,b,model)); }
/** Add an n-ary factor */
template<class TERMS>
void add(const TERMS& terms, const Vector &b, const SharedDiagonal& model) {
void add(const TERMS& terms, const Vector &b, const SharedDiagonal& model = SharedDiagonal()) {
add(JacobianFactor(terms,b,model)); }
/**