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space between double angle-brackets

release/4.3a0
cbeall3 2014-07-10 07:58:56 -04:00
parent 0801246058
commit d191b0cebb
3 changed files with 9 additions and 8 deletions
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2
gtsam/slam/JacobianFactorQ.h
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@ -37,7 +37,7 @@ public:
} }
/// Constructor /// Constructor
JacobianFactorQ(const std::vector<typename Base::KeyMatrix2D, Eigen::aligned_allocator<KeyMatrix2D>>& Fblocks, JacobianFactorQ(const std::vector<typename Base::KeyMatrix2D, Eigen::aligned_allocator<typename Base::KeyMatrix2D> >& Fblocks,
const Matrix& E, const Matrix3& P, const Vector& b, const Matrix& E, const Matrix3& P, const Vector& b,
const SharedDiagonal& model = SharedDiagonal()) : const SharedDiagonal& model = SharedDiagonal()) :
JacobianSchurFactor<D>() { JacobianSchurFactor<D>() {

2
gtsam/slam/JacobianFactorSVD.h
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@ -36,7 +36,7 @@ public:
} }
/// Constructor /// Constructor
JacobianFactorSVD(const std::vector<KeyMatrix2D,Eigen::aligned_allocator<KeyMatrix2D>>& Fblocks, const Matrix& Enull, const Vector& b, JacobianFactorSVD(const std::vector<KeyMatrix2D,Eigen::aligned_allocator<KeyMatrix2D> >& Fblocks, const Matrix& Enull, const Vector& b,
const SharedDiagonal& model = SharedDiagonal()) : JacobianSchurFactor<D>() { const SharedDiagonal& model = SharedDiagonal()) : JacobianSchurFactor<D>() {
size_t numKeys = Enull.rows() / 2; size_t numKeys = Enull.rows() / 2;
size_t j = 0, m2 = 2*numKeys-3; size_t j = 0, m2 = 2*numKeys-3;

13
gtsam/slam/SmartFactorBase.h
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@ -33,7 +33,8 @@
#include <boost/optional.hpp> #include <boost/optional.hpp>
#include <boost/make_shared.hpp> #include <boost/make_shared.hpp>
#include <vector> #include <vector>
#include <gtsam/3rdparty/Eigen/Eigen/StdVector> #include <gtsam/3rdparty/gtsam_eigen_includes.h>
//#include <gtsam/3rdparty/Eigen/Eigen/StdVector>
namespace gtsam { namespace gtsam {
/// Base class with no internal point, completely functional /// Base class with no internal point, completely functional
@ -261,7 +262,7 @@ public:
// **************************************************************************************************** // ****************************************************************************************************
/// Compute F, E only (called below in both vanilla and SVD versions) /// Compute F, E only (called below in both vanilla and SVD versions)
/// Given a Point3, assumes dimensionality is 3 /// Given a Point3, assumes dimensionality is 3
double computeJacobians(std::vector<KeyMatrix2D,Eigen::aligned_allocator<KeyMatrix2D>>& Fblocks, Matrix& E, double computeJacobians(std::vector<KeyMatrix2D,Eigen::aligned_allocator<KeyMatrix2D> >& Fblocks, Matrix& E,
Vector& b, const Cameras& cameras, const Point3& point) const { Vector& b, const Cameras& cameras, const Point3& point) const {
size_t numKeys = this->keys_.size(); size_t numKeys = this->keys_.size();
@ -298,7 +299,7 @@ public:
// **************************************************************************************************** // ****************************************************************************************************
/// Version that computes PointCov, with optional lambda parameter /// Version that computes PointCov, with optional lambda parameter
double computeJacobians(std::vector<KeyMatrix2D,Eigen::aligned_allocator<KeyMatrix2D>>& Fblocks, Matrix& E, double computeJacobians(std::vector<KeyMatrix2D,Eigen::aligned_allocator<KeyMatrix2D> >& Fblocks, Matrix& E,
Matrix3& PointCov, Vector& b, const Cameras& cameras, const Point3& point, Matrix3& PointCov, Vector& b, const Cameras& cameras, const Point3& point,
double lambda = 0.0, bool diagonalDamping = false) const { double lambda = 0.0, bool diagonalDamping = false) const {
@ -329,7 +330,7 @@ public:
const double lambda = 0.0) const { const double lambda = 0.0) const {
size_t numKeys = this->keys_.size(); size_t numKeys = this->keys_.size();
std::vector<KeyMatrix2D,Eigen::aligned_allocator<KeyMatrix2D>> Fblocks; std::vector<KeyMatrix2D,Eigen::aligned_allocator<KeyMatrix2D> > Fblocks;
double f = computeJacobians(Fblocks, E, PointCov, b, cameras, point, double f = computeJacobians(Fblocks, E, PointCov, b, cameras, point,
lambda); lambda);
F = zeros(Z::Dim() * numKeys, D * numKeys); F = zeros(Z::Dim() * numKeys, D * numKeys);
@ -342,7 +343,7 @@ public:
// **************************************************************************************************** // ****************************************************************************************************
/// SVD version /// SVD version
double computeJacobiansSVD(std::vector<KeyMatrix2D,Eigen::aligned_allocator<KeyMatrix2D>>& Fblocks, Matrix& Enull, double computeJacobiansSVD(std::vector<KeyMatrix2D,Eigen::aligned_allocator<KeyMatrix2D> >& Fblocks, Matrix& Enull,
Vector& b, const Cameras& cameras, const Point3& point, double lambda = Vector& b, const Cameras& cameras, const Point3& point, double lambda =
0.0, bool diagonalDamping = false) const { 0.0, bool diagonalDamping = false) const {
@ -642,7 +643,7 @@ public:
boost::shared_ptr<JacobianFactorQ<D> > createJacobianQFactor( boost::shared_ptr<JacobianFactorQ<D> > createJacobianQFactor(
const Cameras& cameras, const Point3& point, double lambda = 0.0, const Cameras& cameras, const Point3& point, double lambda = 0.0,
bool diagonalDamping = false) const { bool diagonalDamping = false) const {
std::vector<KeyMatrix2D,Eigen::aligned_allocator<KeyMatrix2D>> Fblocks; std::vector<KeyMatrix2D,Eigen::aligned_allocator<KeyMatrix2D> > Fblocks;
Matrix E; Matrix E;
Matrix3 PointCov; Matrix3 PointCov;
Vector b; Vector b;