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remove all LieScalar/LieVector/LieMatrix references from wrapper

release/4.3a0
Varun Agrawal 2020-09-26 18:01:26 -04:00
parent 5defa4c278
commit 9bdcd2caa7
1 changed files with 5 additions and 9 deletions
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14
gtsam_unstable/gtsam_unstable.i
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@ -5,8 +5,6 @@
// specify the classes from gtsam we are using // specify the classes from gtsam we are using
virtual class gtsam::Value; virtual class gtsam::Value;
class gtsam::Vector6; class gtsam::Vector6;
class gtsam::LieScalar;
class gtsam::LieVector;
class gtsam::Point2; class gtsam::Point2;
class gtsam::Point2Vector; class gtsam::Point2Vector;
class gtsam::Rot2; class gtsam::Rot2;
@ -476,14 +474,12 @@ virtual class DGroundConstraint : gtsam::NonlinearFactor {
DGroundConstraint(size_t key, Vector constraint, const gtsam::noiseModel::Base* model); DGroundConstraint(size_t key, Vector constraint, const gtsam::noiseModel::Base* model);
}; };
#include <gtsam/base/deprecated/LieScalar.h>
#include <gtsam_unstable/dynamics/VelocityConstraint3.h> #include <gtsam_unstable/dynamics/VelocityConstraint3.h>
virtual class VelocityConstraint3 : gtsam::NonlinearFactor { virtual class VelocityConstraint3 : gtsam::NonlinearFactor {
/** Standard constructor */ /** Standard constructor */
VelocityConstraint3(size_t key1, size_t key2, size_t velKey, double dt); VelocityConstraint3(size_t key1, size_t key2, size_t velKey, double dt);
Vector evaluateError(const gtsam::LieScalar& x1, const gtsam::LieScalar& x2, const gtsam::LieScalar& v) const; Vector evaluateError(const double& x1, const double& x2, const double& v) const;
}; };
#include <gtsam_unstable/dynamics/Pendulum.h> #include <gtsam_unstable/dynamics/Pendulum.h>
@ -491,7 +487,7 @@ virtual class PendulumFactor1 : gtsam::NonlinearFactor {
/** Standard constructor */ /** Standard constructor */
PendulumFactor1(size_t k1, size_t k, size_t velKey, double dt); PendulumFactor1(size_t k1, size_t k, size_t velKey, double dt);
Vector evaluateError(const gtsam::LieScalar& qk1, const gtsam::LieScalar& qk, const gtsam::LieScalar& v) const; Vector evaluateError(const double& qk1, const double& qk, const double& v) const;
}; };
#include <gtsam_unstable/dynamics/Pendulum.h> #include <gtsam_unstable/dynamics/Pendulum.h>
@ -499,21 +495,21 @@ virtual class PendulumFactor2 : gtsam::NonlinearFactor {
/** Standard constructor */ /** Standard constructor */
PendulumFactor2(size_t vk1, size_t vk, size_t qKey, double dt, double L, double g); PendulumFactor2(size_t vk1, size_t vk, size_t qKey, double dt, double L, double g);
Vector evaluateError(const gtsam::LieScalar& vk1, const gtsam::LieScalar& vk, const gtsam::LieScalar& q) const; Vector evaluateError(const double& vk1, const double& vk, const double& q) const;
}; };
virtual class PendulumFactorPk : gtsam::NonlinearFactor { virtual class PendulumFactorPk : gtsam::NonlinearFactor {
/** Standard constructor */ /** Standard constructor */
PendulumFactorPk(size_t pk, size_t qk, size_t qk1, double h, double m, double r, double g, double alpha); PendulumFactorPk(size_t pk, size_t qk, size_t qk1, double h, double m, double r, double g, double alpha);
Vector evaluateError(const gtsam::LieScalar& pk, const gtsam::LieScalar& qk, const gtsam::LieScalar& qk1) const; Vector evaluateError(const double& pk, const double& qk, const double& qk1) const;
}; };
virtual class PendulumFactorPk1 : gtsam::NonlinearFactor { virtual class PendulumFactorPk1 : gtsam::NonlinearFactor {
/** Standard constructor */ /** Standard constructor */
PendulumFactorPk1(size_t pk1, size_t qk, size_t qk1, double h, double m, double r, double g, double alpha); PendulumFactorPk1(size_t pk1, size_t qk, size_t qk1, double h, double m, double r, double g, double alpha);
Vector evaluateError(const gtsam::LieScalar& pk1, const gtsam::LieScalar& qk, const gtsam::LieScalar& qk1) const; Vector evaluateError(const double& pk1, const double& qk, const double& qk1) const;
}; };
#include <gtsam_unstable/dynamics/SimpleHelicopter.h> #include <gtsam_unstable/dynamics/SimpleHelicopter.h>