50 lines
970 B
C++
50 lines
970 B
C++
/*
|
|
* Simulated2DConfig.h
|
|
*
|
|
* Re-created on Feb 22, 2010 for compatibility with MATLAB
|
|
* Author: Frank Dellaert
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "simulated2DOriented.h"
|
|
|
|
namespace gtsam {
|
|
|
|
class Simulated2DOrientedConfig: public simulated2DOriented::Config {
|
|
public:
|
|
typedef boost::shared_ptr<Point2> sharedPoint;
|
|
typedef boost::shared_ptr<Pose2> sharedPose;
|
|
|
|
Simulated2DOrientedConfig() {
|
|
}
|
|
|
|
void insertPose(const simulated2DOriented::PoseKey& i, const Pose2& p) {
|
|
insert(i, p);
|
|
}
|
|
|
|
void insertPoint(const simulated2DOriented::PointKey& j, const Point2& p) {
|
|
insert(j, p);
|
|
}
|
|
|
|
int nrPoses() const {
|
|
return this->first_.size();
|
|
}
|
|
|
|
int nrPoints() const {
|
|
return this->second_.size();
|
|
}
|
|
|
|
sharedPose pose(const simulated2DOriented::PoseKey& i) {
|
|
return sharedPose(new Pose2((*this)[i]));
|
|
}
|
|
|
|
sharedPoint point(const simulated2DOriented::PointKey& j) {
|
|
return sharedPoint(new Point2((*this)[j]));
|
|
}
|
|
|
|
};
|
|
|
|
} // namespace gtsam
|
|
|