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pose2SLAM wrapped

release/4.3a0
Vadim Indelman 2012-01-27 20:10:25 +00:00
parent f68f5f0bd7
commit 9e44b67950
1 changed files with 39 additions and 0 deletions
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39
gtsam.h
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@ -460,6 +460,45 @@ class Graph {
}///\namespace simulated2DOriented
// Planar SLAM example domain
#include <gtsam/slam/pose2SLAM.h>
namespace pose2SLAM {
class Values {
Values();
void print(string s) const;
Pose2 pose(int key) const;
Point2 point(int key) const;
void insertPose(int key, const Pose2& pose);
void insertPoint(int key, const Point2& point);
};
class Graph {
Graph();
void print(string s) const;
double error(const planarSLAM::Values& values) const;
Ordering* orderingCOLAMD(const planarSLAM::Values& values) const;
GaussianFactorGraph* linearize(const planarSLAM::Values& values,
const Ordering& ordering) const;
void addPrior(int key, const Pose2& pose, const SharedNoiseModel& noiseModel);
void addHardConstraint(int key, const Pose2& pose);
void addConstraint(int key1, int key2, const Pose2& odometry, const SharedNoiseModel& noiseModel);
planarSLAM::Values optimize(const planarSLAM::Values& initialEstimate);
};
}///\namespace pose2SLAM
//// These are considered to be broken and will be added back as they start working
//// It's assumed that there have been interface changes that might break this
//