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Wrapped NonlinearEquality and NonlinearFactorGraph::at

release/4.3a0
Richard Roberts 2012-07-13 21:55:02 +00:00
parent 6c9608752e
commit ecfcf82f13
1 changed files with 10 additions and 0 deletions
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10
gtsam.h
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@ -982,6 +982,7 @@ class NonlinearFactorGraph {
void print(string s) const; void print(string s) const;
double error(const gtsam::Values& c) const; double error(const gtsam::Values& c) const;
double probPrime(const gtsam::Values& c) const; double probPrime(const gtsam::Values& c) const;
gtsam::NonlinearFactor* at(size_t i) const;
void add(const gtsam::NonlinearFactor* factor); void add(const gtsam::NonlinearFactor* factor);
gtsam::Ordering* orderingCOLAMD(const gtsam::Values& c) const; gtsam::Ordering* orderingCOLAMD(const gtsam::Values& c) const;
// Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map<gtsam::Key,int>& constraints) const; // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map<gtsam::Key,int>& constraints) const;
@ -1132,6 +1133,15 @@ virtual class BetweenFactor : gtsam::NonlinearFactor {
}; };
template<T = {gtsam::LieVector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera}>
virtual class NonlinearEquality : gtsam::NonlinearFactor {
// Constructor - forces exact evaluation
NonlinearEquality(size_t j, const T& feasible);
// Constructor - allows inexact evaluation
NonlinearEquality(size_t j, const T& feasible, double error_gain);
};
template<POSE, POINT> template<POSE, POINT>
virtual class RangeFactor : gtsam::NonlinearFactor { virtual class RangeFactor : gtsam::NonlinearFactor {
RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel);