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use aligned allocator for Rot3Vector

release/4.3a0
John Lambert 2022-01-27 15:36:20 -05:00 committed by GitHub
parent 56312d91be
commit d37881e656
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1 changed files with 2 additions and 6 deletions
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8
gtsam/slam/slam.i
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@ -323,11 +323,6 @@ virtual class KarcherMeanFactor : gtsam::NonlinearFactor {
KarcherMeanFactor(const gtsam::KeyVector& keys);
};
template <class T>
T FindKarcherMean(const std::vector<T, Eigen::aligned_allocator<T>> &rotations);
template <class T> T FindKarcherMean(std::initializer_list<T> &&rotations);
class Rot3Vector {
Rot3Vector();
size_t size() const;
@ -336,8 +331,9 @@ class Rot3Vector {
gtsam::Rot3 at(size_t i) const;
void push_back(const gtsam::Rot3& R);
};
gtsam::Rot3 FindKarcherMean<gtsam::Rot3>(const Rot3Vector &rotations);
typedef FindKarcherMean<gtsam::Rot3> FindKarcherMeanRot3;
gtsam::Rot3 FindKarcherMeanRot3(const Rot3Vector& rotations);
gtsam::Rot3 FindKarcherMeanRot3(const gtsam::Rot3Vector& rotations);
#include <gtsam/slam/FrobeniusFactor.h>
gtsam::noiseModel::Isotropic* ConvertNoiseModel(gtsam::noiseModel::Base* model,