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Merge pull request #1003 from borglab/fix/change-local-plane-factor-to-shared-noise-model

release/4.3a0
Varun Agrawal 2022-01-03 09:31:59 -05:00 committed by GitHub
parent 6bfad39343 2151fd3852
commit a119eb8e59
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 3 deletions
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6
gtsam_unstable/slam/LocalOrientedPlane3Factor.h
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@ -43,7 +43,7 @@ public:
/// Constructor /// Constructor
LocalOrientedPlane3Factor() {} LocalOrientedPlane3Factor() {}
virtual ~LocalOrientedPlane3Factor() {} ~LocalOrientedPlane3Factor() override {}
/** Constructor with measured plane (a,b,c,d) coefficients /** Constructor with measured plane (a,b,c,d) coefficients
* @param z measured plane (a,b,c,d) coefficients as 4D vector * @param z measured plane (a,b,c,d) coefficients as 4D vector
@ -56,12 +56,12 @@ public:
* Note: The anchorPoseKey can simply be chosen as the first pose a plane * Note: The anchorPoseKey can simply be chosen as the first pose a plane
* is observed. * is observed.
*/ */
LocalOrientedPlane3Factor(const Vector4& z, const SharedGaussian& noiseModel, LocalOrientedPlane3Factor(const Vector4& z, const SharedNoiseModel& noiseModel,
Key poseKey, Key anchorPoseKey, Key landmarkKey) Key poseKey, Key anchorPoseKey, Key landmarkKey)
: Base(noiseModel, poseKey, anchorPoseKey, landmarkKey), measured_p_(z) {} : Base(noiseModel, poseKey, anchorPoseKey, landmarkKey), measured_p_(z) {}
LocalOrientedPlane3Factor(const OrientedPlane3& z, LocalOrientedPlane3Factor(const OrientedPlane3& z,
const SharedGaussian& noiseModel, const SharedNoiseModel& noiseModel,
Key poseKey, Key anchorPoseKey, Key landmarkKey) Key poseKey, Key anchorPoseKey, Key landmarkKey)
: Base(noiseModel, poseKey, anchorPoseKey, landmarkKey), measured_p_(z) {} : Base(noiseModel, poseKey, anchorPoseKey, landmarkKey), measured_p_(z) {}