class Point2 { Point2(); Point2(double x, double y); void print(string s) const; double x(); double y(); }; class Point3 { Point3(); Point3(double x, double y, double z); Point3(Vector v); void print(string s) const; Vector vector() const; double x(); double y(); double z(); }; class Rot2 { Rot2(); }; class Pose2 { Pose2(); Pose2(const Pose2& pose); Pose2(double x, double y, double theta); Pose2(double theta, const Point2& t); Pose2(const Rot2& r, const Point2& t); void print(string s) const; bool equals(const Pose2& pose, double tol) const; double x() const; double y() const; double theta() const; size_t dim() const; }; class SharedGaussian { SharedGaussian(Matrix covariance); SharedGaussian(Vector sigmas); }; class SharedDiagonal { SharedDiagonal(Vector sigmas); }; class VectorValues { VectorValues(); VectorValues(size_t nVars, size_t varDim); void print(string s) const; bool equals(const VectorValues& expected, double tol) const; size_t size() const; void reserve(size_t nVars, size_t totalDims); size_t push_back_preallocated(Vector vector); }; class GaussianConditional { GaussianConditional(size_t key, Vector d, Matrix R, Vector sigmas); GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, Vector sigmas); GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, size_t name2, Matrix T, Vector sigmas); void print(string s) const; bool equals(const GaussianConditional &cg, double tol) const; }; class GaussianBayesNet { GaussianBayesNet(); void print(string s) const; bool equals(const GaussianBayesNet& cbn, double tol) const; void push_back(GaussianConditional* conditional); void push_front(GaussianConditional* conditional); }; class GaussianFactor { void print(string s) const; bool equals(const GaussianFactor& lf, double tol) const; double error(const VectorValues& c) const; }; class JacobianFactor { JacobianFactor(); JacobianFactor(Vector b_in); JacobianFactor(size_t i1, Matrix A1, Vector b, const SharedDiagonal& model); JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b, const SharedDiagonal& model); JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3, Vector b, const SharedDiagonal& model); void print(string s) const; bool equals(const GaussianFactor& lf, double tol) const; bool empty() const; Vector getb() const; double error(const VectorValues& c) const; GaussianConditional* eliminateFirst(); }; class GaussianFactorGraph { GaussianFactorGraph(); void print(string s) const; bool equals(const GaussianFactorGraph& lfgraph, double tol) const; size_t size() const; void push_back(GaussianFactor* ptr_f); double error(const VectorValues& c) const; double probPrime(const VectorValues& c) const; void combine(const GaussianFactorGraph& lfg); };