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Merge pull request #1348 from borglab/fix/wrapper

release/4.3a0
Varun Agrawal 2022-12-24 23:42:50 -05:00 committed by GitHub
parent 2abc0d91d1 6f5e85664c
commit d7491a187e
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 13 additions and 13 deletions
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2
gtsam/slam/StereoFactor.h
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@ -144,7 +144,7 @@ public:
std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) << std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->template key<2>()) <<
" moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl; " moved behind camera " << DefaultKeyFormatter(this->template key<1>()) << std::endl;
if (throwCheirality_) if (throwCheirality_)
throw StereoCheiralityException(this->key2()); throw StereoCheiralityException(this->template key<2>());
} }
return Vector3::Constant(2.0 * K_->fx()); return Vector3::Constant(2.0 * K_->fx());
} }

20
gtsam_unstable/gtsam_unstable.i
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@ -21,9 +21,7 @@ virtual class gtsam::noiseModel::Isotropic;
virtual class gtsam::imuBias::ConstantBias; virtual class gtsam::imuBias::ConstantBias;
virtual class gtsam::NonlinearFactor; virtual class gtsam::NonlinearFactor;
virtual class gtsam::NoiseModelFactor; virtual class gtsam::NoiseModelFactor;
virtual class gtsam::NoiseModelFactor2; virtual class gtsam::NoiseModelFactorN;
virtual class gtsam::NoiseModelFactor3;
virtual class gtsam::NoiseModelFactor4;
virtual class gtsam::GaussianFactor; virtual class gtsam::GaussianFactor;
virtual class gtsam::HessianFactor; virtual class gtsam::HessianFactor;
virtual class gtsam::JacobianFactor; virtual class gtsam::JacobianFactor;
@ -430,8 +428,9 @@ virtual class IMUFactor : gtsam::NoiseModelFactor {
Vector gyro() const; Vector gyro() const;
Vector accel() const; Vector accel() const;
Vector z() const; Vector z() const;
size_t key1() const;
size_t key2() const; template <I = {1, 2}>
size_t key() const;
}; };
#include <gtsam_unstable/dynamics/FullIMUFactor.h> #include <gtsam_unstable/dynamics/FullIMUFactor.h>
@ -448,8 +447,9 @@ virtual class FullIMUFactor : gtsam::NoiseModelFactor {
Vector gyro() const; Vector gyro() const;
Vector accel() const; Vector accel() const;
Vector z() const; Vector z() const;
size_t key1() const;
size_t key2() const; template <I = {1, 2}>
size_t key() const;
}; };
#include <gtsam_unstable/dynamics/DynamicsPriors.h> #include <gtsam_unstable/dynamics/DynamicsPriors.h>
@ -733,14 +733,14 @@ class AHRS {
// Tectonic SAM Factors // Tectonic SAM Factors
#include <gtsam_unstable/slam/TSAMFactors.h> #include <gtsam_unstable/slam/TSAMFactors.h>
//typedef gtsam::NoiseModelFactor2<gtsam::Pose2, gtsam::Point2> NLPosePose; //typedef gtsam::NoiseModelFactorN<gtsam::Pose2, gtsam::Point2> NLPosePose;
virtual class DeltaFactor : gtsam::NoiseModelFactor { virtual class DeltaFactor : gtsam::NoiseModelFactor {
DeltaFactor(size_t i, size_t j, const gtsam::Point2& measured, DeltaFactor(size_t i, size_t j, const gtsam::Point2& measured,
const gtsam::noiseModel::Base* noiseModel); const gtsam::noiseModel::Base* noiseModel);
//void print(string s) const; //void print(string s) const;
}; };
//typedef gtsam::NoiseModelFactor4<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2, //typedef gtsam::NoiseModelFactorN<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2,
// gtsam::Point2> NLPosePosePosePoint; // gtsam::Point2> NLPosePosePosePoint;
virtual class DeltaFactorBase : gtsam::NoiseModelFactor { virtual class DeltaFactorBase : gtsam::NoiseModelFactor {
DeltaFactorBase(size_t b1, size_t i, size_t b2, size_t j, DeltaFactorBase(size_t b1, size_t i, size_t b2, size_t j,
@ -748,7 +748,7 @@ virtual class DeltaFactorBase : gtsam::NoiseModelFactor {
//void print(string s) const; //void print(string s) const;
}; };
//typedef gtsam::NoiseModelFactor4<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2, //typedef gtsam::NoiseModelFactorN<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2,
// gtsam::Pose2> NLPosePosePosePose; // gtsam::Pose2> NLPosePosePosePose;
virtual class OdometryFactorBase : gtsam::NoiseModelFactor { virtual class OdometryFactorBase : gtsam::NoiseModelFactor {
OdometryFactorBase(size_t b1, size_t i, size_t b2, size_t j, OdometryFactorBase(size_t b1, size_t i, size_t b2, size_t j,

4
gtsam_unstable/slam/LocalOrientedPlane3Factor.cpp
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@ -15,8 +15,8 @@ namespace gtsam {
void LocalOrientedPlane3Factor::print(const string& s, void LocalOrientedPlane3Factor::print(const string& s,
const KeyFormatter& keyFormatter) const { const KeyFormatter& keyFormatter) const {
cout << s << (s == "" ? "" : "\n"); cout << s << (s == "" ? "" : "\n");
cout << "LocalOrientedPlane3Factor Factor (" << keyFormatter(key1()) << ", " cout << "LocalOrientedPlane3Factor Factor (" << keyFormatter(key<1>()) << ", "
<< keyFormatter(key2()) << ", " << keyFormatter(key3()) << ")\n"; << keyFormatter(key<2>()) << ", " << keyFormatter(key<3>()) << ")\n";
measured_p_.print("Measured Plane"); measured_p_.print("Measured Plane");
this->noiseModel_->print(" noise model: "); this->noiseModel_->print(" noise model: ");
} }