template on multiple bases
parent
445ffb3110
commit
b72dec5b58
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@ -71,7 +71,8 @@ virtual class EvaluationFactor : gtsam::NoiseModelFactor {
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double x, double a, double b);
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};
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template <BASIS = {gtsam::Chebyshev2}>
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template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
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gtsam::Chebyshev2Basis, gtsam::Chebyshev2}>
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virtual class VectorEvaluationFactor : gtsam::NoiseModelFactor {
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VectorEvaluationFactor();
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VectorEvaluationFactor(gtsam::Key key, const Vector& z,
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@ -82,7 +83,8 @@ virtual class VectorEvaluationFactor : gtsam::NoiseModelFactor {
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const size_t N, double x, double a, double b);
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};
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template <BASIS = {gtsam::Chebyshev2}>
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template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
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gtsam::Chebyshev2Basis, gtsam::Chebyshev2}>
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virtual class VectorComponentFactor : gtsam::NoiseModelFactor {
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VectorComponentFactor();
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VectorComponentFactor(gtsam::Key key, const double z,
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@ -93,7 +95,12 @@ virtual class VectorComponentFactor : gtsam::NoiseModelFactor {
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const size_t N, size_t i, double x, double a, double b);
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};
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template <BASIS, T>
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/geometry/Pose3.h>
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template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
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gtsam::Chebyshev2Basis, gtsam::Chebyshev2},
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T = {gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
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virtual class ManifoldEvaluationFactor : gtsam::NoiseModelFactor {
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ManifoldEvaluationFactor();
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ManifoldEvaluationFactor(gtsam::Key key, const T& z,
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@ -104,14 +111,8 @@ virtual class ManifoldEvaluationFactor : gtsam::NoiseModelFactor {
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double x, double a, double b);
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};
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#include <gtsam/geometry/Pose3.h>
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typedef gtsam::ManifoldEvaluationFactor<gtsam::Chebyshev2, gtsam::Rot3>
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ManifoldEvaluationFactorChebyshev2Rot3;
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typedef gtsam::ManifoldEvaluationFactor<gtsam::Chebyshev2, gtsam::Pose3>
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ManifoldEvaluationFactorChebyshev2Pose3;
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template <BASIS = {gtsam::Chebyshev2}>
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template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
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gtsam::Chebyshev2Basis, gtsam::Chebyshev2}>
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virtual class DerivativeFactor : gtsam::NoiseModelFactor {
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DerivativeFactor();
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DerivativeFactor(gtsam::Key key, const double z,
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@ -122,7 +123,8 @@ virtual class DerivativeFactor : gtsam::NoiseModelFactor {
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double x, double a, double b);
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};
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template <BASIS = {gtsam::Chebyshev2}>
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template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
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gtsam::Chebyshev2Basis, gtsam::Chebyshev2}>
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virtual class VectorDerivativeFactor : gtsam::NoiseModelFactor {
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VectorDerivativeFactor();
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VectorDerivativeFactor(gtsam::Key key, const Vector& z,
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@ -133,7 +135,8 @@ virtual class VectorDerivativeFactor : gtsam::NoiseModelFactor {
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const size_t N, double x, double a, double b);
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};
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template <BASIS = {gtsam::Chebyshev2}>
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template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
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gtsam::Chebyshev2Basis, gtsam::Chebyshev2}>
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virtual class ComponentDerivativeFactor : gtsam::NoiseModelFactor {
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ComponentDerivativeFactor();
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ComponentDerivativeFactor(gtsam::Key key, const double z,
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