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template on multiple bases

release/4.3a0
Varun Agrawal 2023-06-20 09:14:12 -04:00
parent 445ffb3110
commit b72dec5b58
1 changed files with 16 additions and 13 deletions
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29
gtsam/basis/basis.i
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@ -71,7 +71,8 @@ virtual class EvaluationFactor : gtsam::NoiseModelFactor {
double x, double a, double b); double x, double a, double b);
}; };
template <BASIS = {gtsam::Chebyshev2}> template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
gtsam::Chebyshev2Basis, gtsam::Chebyshev2}>
virtual class VectorEvaluationFactor : gtsam::NoiseModelFactor { virtual class VectorEvaluationFactor : gtsam::NoiseModelFactor {
VectorEvaluationFactor(); VectorEvaluationFactor();
VectorEvaluationFactor(gtsam::Key key, const Vector& z, VectorEvaluationFactor(gtsam::Key key, const Vector& z,
@ -82,7 +83,8 @@ virtual class VectorEvaluationFactor : gtsam::NoiseModelFactor {
const size_t N, double x, double a, double b); const size_t N, double x, double a, double b);
}; };
template <BASIS = {gtsam::Chebyshev2}> template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
gtsam::Chebyshev2Basis, gtsam::Chebyshev2}>
virtual class VectorComponentFactor : gtsam::NoiseModelFactor { virtual class VectorComponentFactor : gtsam::NoiseModelFactor {
VectorComponentFactor(); VectorComponentFactor();
VectorComponentFactor(gtsam::Key key, const double z, VectorComponentFactor(gtsam::Key key, const double z,
@ -93,7 +95,12 @@ virtual class VectorComponentFactor : gtsam::NoiseModelFactor {
const size_t N, size_t i, double x, double a, double b); const size_t N, size_t i, double x, double a, double b);
}; };
template <BASIS, T> #include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
gtsam::Chebyshev2Basis, gtsam::Chebyshev2},
T = {gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
virtual class ManifoldEvaluationFactor : gtsam::NoiseModelFactor { virtual class ManifoldEvaluationFactor : gtsam::NoiseModelFactor {
ManifoldEvaluationFactor(); ManifoldEvaluationFactor();
ManifoldEvaluationFactor(gtsam::Key key, const T& z, ManifoldEvaluationFactor(gtsam::Key key, const T& z,
@ -104,14 +111,8 @@ virtual class ManifoldEvaluationFactor : gtsam::NoiseModelFactor {
double x, double a, double b); double x, double a, double b);
}; };
#include <gtsam/geometry/Pose3.h> template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
gtsam::Chebyshev2Basis, gtsam::Chebyshev2}>
typedef gtsam::ManifoldEvaluationFactor<gtsam::Chebyshev2, gtsam::Rot3>
ManifoldEvaluationFactorChebyshev2Rot3;
typedef gtsam::ManifoldEvaluationFactor<gtsam::Chebyshev2, gtsam::Pose3>
ManifoldEvaluationFactorChebyshev2Pose3;
template <BASIS = {gtsam::Chebyshev2}>
virtual class DerivativeFactor : gtsam::NoiseModelFactor { virtual class DerivativeFactor : gtsam::NoiseModelFactor {
DerivativeFactor(); DerivativeFactor();
DerivativeFactor(gtsam::Key key, const double z, DerivativeFactor(gtsam::Key key, const double z,
@ -122,7 +123,8 @@ virtual class DerivativeFactor : gtsam::NoiseModelFactor {
double x, double a, double b); double x, double a, double b);
}; };
template <BASIS = {gtsam::Chebyshev2}> template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
gtsam::Chebyshev2Basis, gtsam::Chebyshev2}>
virtual class VectorDerivativeFactor : gtsam::NoiseModelFactor { virtual class VectorDerivativeFactor : gtsam::NoiseModelFactor {
VectorDerivativeFactor(); VectorDerivativeFactor();
VectorDerivativeFactor(gtsam::Key key, const Vector& z, VectorDerivativeFactor(gtsam::Key key, const Vector& z,
@ -133,7 +135,8 @@ virtual class VectorDerivativeFactor : gtsam::NoiseModelFactor {
const size_t N, double x, double a, double b); const size_t N, double x, double a, double b);
}; };
template <BASIS = {gtsam::Chebyshev2}> template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,
gtsam::Chebyshev2Basis, gtsam::Chebyshev2}>
virtual class ComponentDerivativeFactor : gtsam::NoiseModelFactor { virtual class ComponentDerivativeFactor : gtsam::NoiseModelFactor {
ComponentDerivativeFactor(); ComponentDerivativeFactor();
ComponentDerivativeFactor(gtsam::Key key, const double z, ComponentDerivativeFactor(gtsam::Key key, const double z,