added

gtsam/slam/OrientedPlane3Factor.cpp

@@ -0,0 +1,42 @@
+/*
+ * OrientedPlane3Factor.cpp
+ *
+ *  Created on: Jan 29, 2014
+ *      Author: Natesh Srinivasan
+ */
+
+
+#include "OrientedPlane3Factor.h"
+
+using namespace std;
+
+namespace gtsam {
+
+//***************************************************************************
+
+void OrientedPlane3DirectionPrior::print(const string& s) const {
+  cout << "Prior Factor on " << landmarkSymbol_ << "\n";
+  measured_p_.print("Measured Plane");
+  this->noiseModel_->print("  noise model: ");
+}
+
+//***************************************************************************
+
+bool OrientedPlane3DirectionPrior::equals(const NonlinearFactor& expected,
+    double tol) const {
+  const This* e = dynamic_cast<const This*>(&expected);
+  return e != NULL && Base::equals(*e, tol) && this->measured_p_.equals(e->measured_p_, tol);
+}
+
+//***************************************************************************
+
+Vector OrientedPlane3DirectionPrior::evaluateError(const OrientedPlane3& plane,
+    boost::optional<Matrix&> H) const {
+
+  if(H) {
+    H->resize(2,4);
+  }
+
+}
+}
+