12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Wrapper updates for IMU data 

- Wrapped Values to allow for using NavState
- Wrapped the symbol shorthands e.g. gtsam.X(0)
release/4.3a0
Varun Agrawal 2020-06-09 17:53:03 -05:00
parent 08487f7a43
commit 9e4a6e6167
1 changed files with 38 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

39
gtsam.h
View File

@ -120,6 +120,12 @@
namespace gtsam {
// Include Key typedef
#include <gtsam/base/types.h>
class Key {
Key();
};
// Actually a FastList<Key>
#include <gtsam/inference/Key.h>
class KeyList {
@ -1977,6 +1983,35 @@ size_t symbol(char chr, size_t index);
char symbolChr(size_t key);
size_t symbolIndex(size_t key);
namespace symbol_shorthand {
size_t A(size_t j);
size_t B(size_t j);
size_t C(size_t j);
size_t D(size_t j);
size_t E(size_t j);
size_t F(size_t j);
size_t G(size_t j);
size_t H(size_t j);
size_t I(size_t j);
size_t J(size_t j);
size_t K(size_t j);
size_t L(size_t j);
size_t M(size_t j);
size_t N(size_t j);
size_t O(size_t j);
size_t P(size_t j);
size_t Q(size_t j);
size_t R(size_t j);
size_t S(size_t j);
size_t T(size_t j);
size_t U(size_t j);
size_t V(size_t j);
size_t W(size_t j);
size_t X(size_t j);
size_t Y(size_t j);
size_t Z(size_t j);
}
// Default keyformatter
void PrintKeyList (const gtsam::KeyList& keys);
void PrintKeyList (const gtsam::KeyList& keys, string s);
@ -2141,6 +2176,7 @@ class Values {
void insert(size_t j, const gtsam::EssentialMatrix& essential_matrix);
void insert(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera);
void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
void insert(size_t j, const gtsam::NavState& nav_state);
void insert(size_t j, Vector vector);
void insert(size_t j, Matrix matrix);
@ -2158,10 +2194,11 @@ class Values {
void update(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void update(size_t j, const gtsam::EssentialMatrix& essential_matrix);
void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
void update(size_t j, const gtsam::NavState& nav_state);
void update(size_t j, Vector vector);
void update(size_t j, Matrix matrix);
template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::imuBias::ConstantBias, Vector, Matrix}>
template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}>
T at(size_t j);
/// version for double