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fixed paths to move Event from unstable

release/4.3a0
mkielo3 2025-05-08 12:16:36 -04:00
parent f07d9aacd3
commit c5a26aec59
7 changed files with 31 additions and 32 deletions
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28
gtsam/geometry/geometry.i
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@ -213,7 +213,7 @@ namespace so3 {
ExpmapFunctor(const gtsam::Vector3& axis, double angle);
gtsam::Matrix3 expmap() const;
};
virtual class DexpFunctor : gtsam::so3::ExpmapFunctor {
const gtsam::Vector3 omega;
const double C; // (1 - A) / theta^2
@ -228,7 +228,7 @@ namespace so3 {
gtsam::Vector3 applyRightJacobianInverse(const gtsam::Vector3& v) const;
gtsam::Vector3 applyLeftJacobian(const gtsam::Vector3& v) const;
gtsam::Vector3 applyLeftJacobianInverse(const gtsam::Vector3& v) const;
};
};
}
class SO3 {
@ -427,7 +427,7 @@ class Rot3 {
Eigen::Ref<Eigen::MatrixXd> HR,
Eigen::Ref<Eigen::MatrixXd> Hp) const;
gtsam::Unit3 unrotate(const gtsam::Unit3& p) const;
// Standard Interface
gtsam::Matrix matrix() const;
gtsam::Matrix transpose() const;
@ -522,7 +522,7 @@ class Pose2 {
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/geometry/Pose3.h>
class Pose3 {
// Standard Constructors
@ -573,12 +573,12 @@ class Pose3 {
static gtsam::Matrix6 LogmapDerivative(const gtsam::Pose3& xi);
static gtsam::Pose3 Expmap(gtsam::Vector xi, Eigen::Ref<Eigen::MatrixXd> Hxi);
static gtsam::Vector Logmap(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hpose);
gtsam::Pose3 expmap(gtsam::Vector v);
gtsam::Pose3 expmap(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2);
gtsam::Vector logmap(const gtsam::Pose3& p);
gtsam::Vector logmap(const gtsam::Pose3& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2);
gtsam::Matrix AdjointMap() const;
gtsam::Vector Adjoint(gtsam::Vector xi_b) const;
gtsam::Vector Adjoint(gtsam::Vector xi_b, Eigen::Ref<Eigen::MatrixXd> H_this,
@ -718,7 +718,7 @@ class OrientedPlane3 {
static size_t Dim();
size_t dim() const;
gtsam::OrientedPlane3 retract(const gtsam::Vector3& v) const;
gtsam::OrientedPlane3 retract(const gtsam::Vector3& v,
Eigen::Ref<Eigen::MatrixXd> H) const;
@ -1491,7 +1491,7 @@ gtsam::TriangulationResult triangulateSafe(
const gtsam::Point2Vector& measurements,
const gtsam::TriangulationParameters& params);
// Cal3Unified versions
// Cal3Unified versions
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3Unified* sharedCal,
const gtsam::Point2Vector& measurements,
@ -1514,7 +1514,17 @@ gtsam::TriangulationResult triangulateSafe(
const gtsam::Point2Vector& measurements,
const gtsam::TriangulationParameters& params);
#include <gtsam_unstable/geometry/Event.h>
class Event {
Event();
Event(double t, const gtsam::Point3& p);
Event(double t, double x, double y, double z);
double time() const;
gtsam::Point3 location() const;
TimeOfArrival();
TimeOfArrival(double speed);
double measure(const gtsam::Event& event, const gtsam::Point3& sensor) const;
};
#include <gtsam/geometry/BearingRange.h>
template <POSE, POINT, BEARING, RANGE>

2
gtsam_unstable/examples/TimeOfArrivalExample.cpp
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@ -21,7 +21,7 @@
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam_unstable/geometry/Event.h>
#include <gtsam/geometry/Event.h>
#include <gtsam_unstable/slam/TOAFactor.h>
#include <vector>

13
gtsam_unstable/gtsam_unstable.i
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@ -162,7 +162,7 @@ class BearingS2 {
void serializable() const; // enabling serialization functionality
};
#include <gtsam_unstable/geometry/SimWall2D.h>
class SimWall2D {
SimWall2D();
@ -379,22 +379,11 @@ virtual class RangeFactor : gtsam::NoiseModelFactor {
typedef gtsam::RangeFactor<gtsam::PoseRTV, gtsam::PoseRTV> RangeFactorRTV;
#include <gtsam_unstable/geometry/Event.h>
class Event {
Event();
Event(double t, const gtsam::Point3& p);
Event(double t, double x, double y, double z);
double time() const;
gtsam::Point3 location() const;
double height() const;
void print(string s) const;
};
class TimeOfArrival {
TimeOfArrival();
TimeOfArrival(double speed);
double measure(const gtsam::Event& event, const gtsam::Point3& sensor) const;
};
#include <gtsam_unstable/slam/TOAFactor.h>
virtual class TOAFactor : gtsam::NonlinearFactor {

12
gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h
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@ -11,11 +11,11 @@
#pragma once
#ifdef _MSC_VER
#pragma message("IncrementalFixedLagSmoother was moved to the gtsam/nonlinear directory")
#else
#warning "IncrementalFixedLagSmoother was moved to the gtsam/nonlinear directory"
#endif
// #ifdef _MSC_VER
// #pragma message("IncrementalFixedLagSmoother was moved to the gtsam/nonlinear directory")
// #else
// #warning "IncrementalFixedLagSmoother was moved to the gtsam/nonlinear directory"
// #endif
#include <gtsam/nonlinear/IncrementalFixedLagSmoother.h>
#include <gtsam/nonlinear/IncrementalFixedLagSmoother.h>

2
gtsam_unstable/slam/TOAFactor.h
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@ -20,7 +20,7 @@
#pragma once
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam_unstable/geometry/Event.h>
#include <gtsam/geometry/Event.h>
namespace gtsam {

2
gtsam_unstable/slam/tests/testTOAFactor.cpp
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@ -21,7 +21,7 @@
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam_unstable/geometry/Event.h>
#include <gtsam/geometry/Event.h>
#include <gtsam_unstable/slam/TOAFactor.h>
#include <CppUnitLite/TestHarness.h>

4
python/gtsam_unstable/examples/TimeOfArrivalExample.py
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@ -12,8 +12,8 @@ Author: Frank Dellaert
# pylint: disable=invalid-name, no-name-in-module
from gtsam import (LevenbergMarquardtOptimizer, LevenbergMarquardtParams,
NonlinearFactorGraph, Point3, Values, noiseModel)
from gtsam_unstable import Event, TimeOfArrival, TOAFactor
NonlinearFactorGraph, Point3, Values, noiseModel, Event)
from gtsam_unstable import TimeOfArrival, TOAFactor
# units
MS = 1e-3