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dim, expmap, logmap works

release/4.3a0
Viorela Ila 2010-01-10 21:53:38 +00:00
parent 64eca2d550
commit f8be2c2626
1 changed files with 6 additions and 12 deletions
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18
cpp/gtsam.h
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@ -118,7 +118,6 @@ class Point2 {
Point2(double x, double y); Point2(double x, double y);
double x(); double x();
double y(); double y();
size_t dim() const;
void print(string s) const; void print(string s) const;
}; };
@ -126,8 +125,6 @@ class Point3 {
Point3(); Point3();
Point3(double x, double y, double z); Point3(double x, double y, double z);
Point3(Vector v); Point3(Vector v);
size_t dim() const;
Point3 exmap(Vector d) const;
Vector vector() const; Vector vector() const;
double x(); double x();
double y(); double y();
@ -176,27 +173,26 @@ class Pose2 {
double x() const; double x() const;
double y() const; double y() const;
double theta() const; double theta() const;
size_t dim() const;
Pose2 expmap(const Vector& v) const;
Vector logmap(const Pose2& pose) const;
Point2 t() const; Point2 t() const;
Rot2 r() const; Rot2 r() const;
Vector vector() const;
size_t dim() const;
Pose2 exmap(const Vector& v) const;
Vector log(const Pose2& pose) const;
Pose2 inverse() const;
Pose2 compose(const Pose2& p1) const;
}; };
class Pose2Config{ class Pose2Config{
Pose2Config(); Pose2Config();
Pose2 get(string key) const; Pose2 get(string key) const;
void insert(string name, const Pose2& val); void insert(string name, const Pose2& val);
void print(string s) const;
void clear();
int size();
}; };
class Pose2Factor { class Pose2Factor {
Pose2Factor(string key1, string key2, Pose2Factor(string key1, string key2,
const Pose2& measured, Matrix measurement_covariance); const Pose2& measured, Matrix measurement_covariance);
void print(string name) const; void print(string name) const;
bool equals(const Pose2Factor& expected, double tol) const;
double error(const Pose2Config& c) const; double error(const Pose2Config& c) const;
size_t size() const; size_t size() const;
GaussianFactor* linearize(const Pose2Config& config) const; GaussianFactor* linearize(const Pose2Config& config) const;
@ -205,10 +201,8 @@ class Pose2Factor {
class Pose2Graph{ class Pose2Graph{
Pose2Graph(); Pose2Graph();
void print(string s) const; void print(string s) const;
bool equals(const Pose2Graph& p, double tol) const;
GaussianFactorGraph* linearize_(const Pose2Config& config) const; GaussianFactorGraph* linearize_(const Pose2Config& config) const;
void push_back(Pose2Factor* factor); void push_back(Pose2Factor* factor);
Ordering* getOrdering_() const;
}; };