52 lines
1.6 KiB
C++
52 lines
1.6 KiB
C++
/*
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* SharedDiagonal.h
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* @brief Class that wraps a shared noise model with diagonal covariance
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* @Author: Frank Dellaert
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* Created on: Jan 22, 2010
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*/
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#pragma once
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#include "NoiseModel.h"
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namespace gtsam { // note, deliberately not in noiseModel namespace
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// A useful convenience class to refer to a shared Diagonal model
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// There are (somewhat dangerous) constructors from Vector and pair<size_t,double>
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// that call Sigmas and Sigma, respectively.
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struct SharedDiagonal: public noiseModel::Diagonal::shared_ptr {
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SharedDiagonal() {
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}
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SharedDiagonal(const noiseModel::Diagonal::shared_ptr& p) :
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noiseModel::Diagonal::shared_ptr(p) {
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}
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SharedDiagonal(const noiseModel::Constrained::shared_ptr& p) :
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noiseModel::Diagonal::shared_ptr(p) {
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}
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SharedDiagonal(const noiseModel::Isotropic::shared_ptr& p) :
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noiseModel::Diagonal::shared_ptr(p) {
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}
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SharedDiagonal(const noiseModel::Unit::shared_ptr& p) :
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noiseModel::Diagonal::shared_ptr(p) {
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}
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SharedDiagonal(const Vector& sigmas) :
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noiseModel::Diagonal::shared_ptr(noiseModel::Diagonal::Sigmas(sigmas)) {
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}
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};
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// TODO: make these the ones really used in unit tests
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inline SharedDiagonal sharedSigmas(const Vector& sigmas) {
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return noiseModel::Diagonal::Sigmas(sigmas);
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}
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inline SharedDiagonal sharedSigma(size_t dim, double sigma) {
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return noiseModel::Isotropic::Sigma(dim, sigma);
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}
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inline SharedDiagonal sharedPrecisions(const Vector& precisions) {
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return noiseModel::Diagonal::Precisions(precisions);
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}
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inline SharedDiagonal sharedPrecision(size_t dim, double precision) {
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return noiseModel::Isotropic::Precision(dim, precision);
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}
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}
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