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New method "add" as in GaussianFactorGraph

release/4.3a0
Frank Dellaert 2020-09-30 15:38:25 -04:00
parent c0fb3a271b
commit c51264ac98
2 changed files with 10 additions and 0 deletions
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5
gtsam_unstable/linear/EqualityFactorGraph.h
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@ -31,6 +31,11 @@ class EqualityFactorGraph: public FactorGraph<LinearEquality> {
public: public:
typedef boost::shared_ptr<EqualityFactorGraph> shared_ptr; typedef boost::shared_ptr<EqualityFactorGraph> shared_ptr;
/// Add a linear inequality, forwards arguments to LinearInequality.
template <class... Args> void add(Args &&... args) {
emplace_shared<LinearEquality>(std::forward<Args>(args)...);
}
/// Compute error of a guess. /// Compute error of a guess.
double error(const VectorValues& x) const { double error(const VectorValues& x) const {
double total_error = 0.; double total_error = 0.;

5
gtsam_unstable/linear/InequalityFactorGraph.h
View File

@ -47,6 +47,11 @@ public:
return Base::equals(other, tol); return Base::equals(other, tol);
} }
/// Add a linear inequality, forwards arguments to LinearInequality.
template <class... Args> void add(Args &&... args) {
emplace_shared<LinearInequality>(std::forward<Args>(args)...);
}
/** /**
* Compute error of a guess. * Compute error of a guess.
* Infinity error if it violates an inequality; zero otherwise. */ * Infinity error if it violates an inequality; zero otherwise. */