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add alignment macro and modernize typedefs

release/4.3a0
Varun Agrawal 2021-12-20 17:57:24 -05:00
parent 1af040b9d1
commit e8e4bea84c
1 changed files with 6 additions and 5 deletions
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11
gtsam/slam/TriangulationFactor.h
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@ -33,18 +33,18 @@ class TriangulationFactor: public NoiseModelFactor1<Point3> {
public: public:
/// CAMERA type /// CAMERA type
typedef CAMERA Camera; using Camera = CAMERA;
protected: protected:
/// shorthand for base class type /// shorthand for base class type
typedef NoiseModelFactor1<Point3> Base; using Base = NoiseModelFactor1<Point3>;
/// shorthand for this class /// shorthand for this class
typedef TriangulationFactor<CAMERA> This; using This = TriangulationFactor<CAMERA>;
/// shorthand for measurement type, e.g. Point2 or StereoPoint2 /// shorthand for measurement type, e.g. Point2 or StereoPoint2
typedef typename CAMERA::Measurement Measurement; using Measurement = typename CAMERA::Measurement;
// Keep a copy of measurement and calibration for I/O // Keep a copy of measurement and calibration for I/O
const CAMERA camera_; ///< CAMERA in which this landmark was seen const CAMERA camera_; ///< CAMERA in which this landmark was seen
@ -55,9 +55,10 @@ protected:
const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false) const bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false)
public: public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/// shorthand for a smart pointer to a factor /// shorthand for a smart pointer to a factor
typedef boost::shared_ptr<This> shared_ptr; using shared_ptr = boost::shared_ptr<This>;
/// Default constructor /// Default constructor
TriangulationFactor() : TriangulationFactor() :