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add Optimizer typedef to visualSLAM.h

release/4.3a0
Chris Beall 2010-10-19 02:58:13 +00:00
parent 4071d4f673
commit 95f91ab831
2 changed files with 4 additions and 3 deletions
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1
examples/vSLAMexample/vSLAMexample.cpp
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@ -24,7 +24,6 @@ using namespace std;
using namespace gtsam; using namespace gtsam;
using namespace gtsam::visualSLAM; using namespace gtsam::visualSLAM;
using namespace boost; using namespace boost;
typedef NonlinearOptimizer<Graph,Values> Optimizer;
/* ************************************************************************* */ /* ************************************************************************* */
#define CALIB_FILE "Data/calib.txt" #define CALIB_FILE "Data/calib.txt"

6
slam/visualSLAM.h
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@ -19,14 +19,13 @@
#pragma once #pragma once
#include <gtsam/geometry/Pose3.h> #include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Point2.h> #include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/SimpleCamera.h> #include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/nonlinear/Key.h> #include <gtsam/nonlinear/Key.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/TupleValues.h> #include <gtsam/nonlinear/TupleValues.h>
#include <gtsam/nonlinear/NonlinearEquality.h> #include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/NonlinearOptimizer.h>
#include <gtsam/slam/PriorFactor.h> #include <gtsam/slam/PriorFactor.h>
namespace gtsam { namespace visualSLAM { namespace gtsam { namespace visualSLAM {
@ -199,4 +198,7 @@ namespace gtsam { namespace visualSLAM {
}; // Graph }; // Graph
// Optimizer
typedef NonlinearOptimizer<Graph, Values> Optimizer;
} } // namespaces } } // namespaces