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

Added access functions to measurements and noisemodels for a variety of common nonlinear factors

release/4.3a0
Alex Cunningham 2013-06-10 20:49:47 +00:00
parent d20155c661
commit b3748cf7c6
1 changed files with 11 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
gtsam.h
View File

@ -1958,6 +1958,8 @@ class NonlinearISAM {
template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera}>
virtual class PriorFactor : gtsam::NonlinearFactor {
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
T prior() const;
gtsam::noiseModel::Base* get_noiseModel() const;
};
@ -1965,6 +1967,8 @@ virtual class PriorFactor : gtsam::NonlinearFactor {
template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
virtual class BetweenFactor : gtsam::NonlinearFactor {
BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
T measured() const;
gtsam::noiseModel::Base* get_noiseModel() const;
};
@ -1982,6 +1986,7 @@ virtual class NonlinearEquality : gtsam::NonlinearFactor {
template<POSE, POINT>
virtual class RangeFactor : gtsam::NonlinearFactor {
RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel);
gtsam::noiseModel::Base* get_noiseModel() const;
};
typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
@ -1998,6 +2003,7 @@ typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactor
template<POSE, POINT, ROTATION>
virtual class BearingFactor : gtsam::NonlinearFactor {
BearingFactor(size_t key1, size_t key2, const ROTATION& measured, const gtsam::noiseModel::Base* noiseModel);
gtsam::noiseModel::Base* get_noiseModel() const;
};
typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingFactor2D;
@ -2007,6 +2013,7 @@ typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingFa
template<POSE, POINT, ROTATION>
virtual class BearingRangeFactor : gtsam::NonlinearFactor {
BearingRangeFactor(size_t poseKey, size_t pointKey, const ROTATION& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel);
gtsam::noiseModel::Base* get_noiseModel() const;
};
typedef gtsam::BearingRangeFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingRangeFactor2D;
@ -2030,6 +2037,7 @@ virtual class GenericProjectionFactor : gtsam::NonlinearFactor {
CALIBRATION* calibration() const;
bool verboseCheirality() const;
bool throwCheirality() const;
gtsam::noiseModel::Base* get_noiseModel() const;
};
typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> GenericProjectionFactorCal3_S2;
typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> GenericProjectionFactorCal3DS2;
@ -2058,6 +2066,7 @@ virtual class GenericStereoFactor : gtsam::NonlinearFactor {
size_t poseKey, size_t landmarkKey, const gtsam::Cal3_S2Stereo* K);
gtsam::StereoPoint2 measured() const;
gtsam::Cal3_S2Stereo* calibration() const;
gtsam::noiseModel::Base* get_noiseModel() const;
};
typedef gtsam::GenericStereoFactor<gtsam::Pose3, gtsam::Point3> GenericStereoFactor3D;
@ -2065,6 +2074,7 @@ typedef gtsam::GenericStereoFactor<gtsam::Pose3, gtsam::Point3> GenericStereoFac
template<POSE>
virtual class PoseTranslationPrior : gtsam::NonlinearFactor {
PoseTranslationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
gtsam::noiseModel::Base* get_noiseModel() const;
};
typedef gtsam::PoseTranslationPrior<gtsam::Pose2> PoseTranslationPrior2D;
@ -2074,6 +2084,7 @@ typedef gtsam::PoseTranslationPrior<gtsam::Pose3> PoseTranslationPrior3D;
template<POSE>
virtual class PoseRotationPrior : gtsam::NonlinearFactor {
PoseRotationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
gtsam::noiseModel::Base* get_noiseModel() const;
};
typedef gtsam::PoseRotationPrior<gtsam::Pose2> PoseRotationPrior2D;