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Moved additional wrap definitions

release/4.3a0
Alex Cunningham 2013-03-23 20:19:32 +00:00
parent 3c2e037b16
commit a0b55c3ff7
1 changed files with 110 additions and 0 deletions
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110
gtsam_unstable/gtsam_unstable.h
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@ -135,6 +135,116 @@ virtual class BearingS2 : gtsam::Value {
Vector localCoordinates(const gtsam::BearingS2& p2) const;
};
class SimWall2D {
SimWall2D();
SimWall2D(const gtsam::Point2& a, const gtsam::Point2& b);
SimWall2D(double ax, double ay, double bx, double by);
void print(string s) const;
bool equals(const gtsam::SimWall2D& other, double tol) const;
gtsam::Point2 a() const;
gtsam::Point2 b() const;
gtsam::SimWall2D scale(double s) const;
double length() const;
gtsam::Point2 midpoint() const;
bool intersects(const gtsam::SimWall2D& wall) const;
// bool intersects(const gtsam::SimWall2D& wall, boost::optional<gtsam::Point2&> pt=boost::none) const;
gtsam::Point2 norm() const;
gtsam::Rot2 reflection(const gtsam::Point2& init, const gtsam::Point2& intersection) const;
};
class SimPolygon2D {
static void seedGenerator(size_t seed);
static gtsam::SimPolygon2D createTriangle(const gtsam::Point2& pA, const gtsam::Point2& pB, const gtsam::Point2& pC);
static gtsam::SimPolygon2D createRectangle(const gtsam::Point2& p, double height, double width);
static gtsam::SimPolygon2D randomTriangle(double side_len, double mean_side_len, double sigma_side_len,
double min_vertex_dist, double min_side_len, const gtsam::SimPolygon2DVector& existing_polys);
static gtsam::SimPolygon2D randomRectangle(double side_len, double mean_side_len, double sigma_side_len,
double min_vertex_dist, double min_side_len, const gtsam::SimPolygon2DVector& existing_polys);
gtsam::Point2 landmark(size_t i) const;
size_t size() const;
gtsam::Point2Vector vertices() const;
bool equals(const gtsam::SimPolygon2D& p, double tol) const;
void print(string s) const;
gtsam::SimWall2DVector walls() const;
bool contains(const gtsam::Point2& p) const;
bool overlaps(const gtsam::SimPolygon2D& p) const;
static bool anyContains(const gtsam::Point2& p, const gtsam::SimPolygon2DVector& obstacles);
static bool anyOverlaps(const gtsam::SimPolygon2D& p, const gtsam::SimPolygon2DVector& obstacles);
static bool insideBox(double s, const gtsam::Point2& p);
static bool nearExisting(const gtsam::Point2Vector& S,
const gtsam::Point2& p, double threshold);
static gtsam::Point2 randomPoint2(double s);
static gtsam::Rot2 randomAngle();
static double randomDistance(double mu, double sigma);
static double randomDistance(double mu, double sigma, double min_dist);
static gtsam::Point2 randomBoundedPoint2(double boundary_size,
const gtsam::Point2Vector& landmarks, double min_landmark_dist);
static gtsam::Point2 randomBoundedPoint2(double boundary_size,
const gtsam::Point2Vector& landmarks,
const gtsam::SimPolygon2DVector& obstacles, double min_landmark_dist);
static gtsam::Point2 randomBoundedPoint2(double boundary_size,
const gtsam::SimPolygon2DVector& obstacles);
static gtsam::Point2 randomBoundedPoint2(
const gtsam::Point2& LL_corner, const gtsam::Point2& UR_corner,
const gtsam::Point2Vector& landmarks,
const gtsam::SimPolygon2DVector& obstacles, double min_landmark_dist);
static gtsam::Pose2 randomFreePose(double boundary_size, const gtsam::SimPolygon2DVector& obstacles);
};
// std::vector<gtsam::SimWall2D>
class SimWall2DVector
{
//Capacity
size_t size() const;
size_t max_size() const;
void resize(size_t sz);
size_t capacity() const;
bool empty() const;
void reserve(size_t n);
//Element access
gtsam::SimWall2D at(size_t n) const;
gtsam::SimWall2D front() const;
gtsam::SimWall2D back() const;
//Modifiers
void assign(size_t n, const gtsam::SimWall2D& u);
void push_back(const gtsam::SimWall2D& x);
void pop_back();
};
// std::vector<gtsam::SimPolygon2D>
class SimPolygon2DVector
{
//Capacity
size_t size() const;
size_t max_size() const;
void resize(size_t sz);
size_t capacity() const;
bool empty() const;
void reserve(size_t n);
//Element access
gtsam::SimPolygon2D at(size_t n) const;
gtsam::SimPolygon2D front() const;
gtsam::SimPolygon2D back() const;
//Modifiers
void assign(size_t n, const gtsam::SimPolygon2D& u);
void push_back(const gtsam::SimPolygon2D& x);
void pop_back();
};
// Nonlinear factors from gtsam, for our Value types
#include <gtsam/slam/PriorFactor.h>