230 lines
11 KiB
OpenEdge ABL
230 lines
11 KiB
OpenEdge ABL
//*************************************************************************
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// nonlinear but only Values
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//*************************************************************************
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namespace gtsam {
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/geometry/Cal3Bundler.h>
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#include <gtsam/geometry/Cal3DS2.h>
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#include <gtsam/geometry/Cal3f.h>
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#include <gtsam/geometry/Cal3Fisheye.h>
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#include <gtsam/geometry/Cal3Unified.h>
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#include <gtsam/geometry/EssentialMatrix.h>
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#include <gtsam/geometry/FundamentalMatrix.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/Point2.h>
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#include <gtsam/geometry/Point3.h>
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Rot2.h>
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#include <gtsam/geometry/Rot3.h>
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#include <gtsam/geometry/SO3.h>
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#include <gtsam/geometry/SO4.h>
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#include <gtsam/geometry/SOn.h>
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#include <gtsam/geometry/StereoPoint2.h>
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#include <gtsam/geometry/Unit3.h>
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#include <gtsam/navigation/ImuBias.h>
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#include <gtsam/navigation/NavState.h>
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#include <gtsam/linear/VectorValues.h>
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#include <gtsam/nonlinear/Values.h>
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class Values {
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Values();
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Values(const gtsam::Values& other);
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size_t size() const;
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bool empty() const;
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void clear();
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size_t dim() const;
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void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
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gtsam::DefaultKeyFormatter) const;
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bool equals(const gtsam::Values& other, double tol) const;
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void insert(const gtsam::Values& values);
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void update(const gtsam::Values& values);
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void insert_or_assign(const gtsam::Values& values);
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void erase(size_t j);
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void swap(gtsam::Values& values);
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bool exists(size_t j) const;
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gtsam::KeyVector keys() const;
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gtsam::VectorValues zeroVectors() const;
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gtsam::Values retract(const gtsam::VectorValues& delta) const;
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gtsam::VectorValues localCoordinates(const gtsam::Values& cp) const;
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// enabling serialization functionality
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void serialize() const;
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// New in 4.0, we have to specialize every insert/update/at
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// to generate wrappers.
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// Instead of the old:
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// void insert(size_t j, const gtsam::Value& value);
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// void update(size_t j, const gtsam::Value& val);
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// gtsam::Value at(size_t j) const;
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// The order is important: gtsam::Vector has to precede Point2/Point3 so `atVector`
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// can work for those fixed-size vectors. Same apparently for Cal3Bundler and Cal3f.
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void insert(size_t j, gtsam::Vector vector);
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void insert(size_t j, gtsam::Matrix matrix);
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void insert(size_t j, const gtsam::Point2& point2);
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void insert(size_t j, const gtsam::Point3& point3);
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void insert(size_t j, const gtsam::Rot2& rot2);
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void insert(size_t j, const gtsam::Pose2& pose2);
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void insert(size_t j, const gtsam::SO3& R);
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void insert(size_t j, const gtsam::SO4& Q);
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void insert(size_t j, const gtsam::SOn& P);
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void insert(size_t j, const gtsam::Rot3& rot3);
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void insert(size_t j, const gtsam::Pose3& pose3);
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void insert(size_t j, const gtsam::Unit3& unit3);
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void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
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void insert(size_t j, const gtsam::Cal3f& cal3f);
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void insert(size_t j, const gtsam::Cal3_S2& cal3_s2);
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void insert(size_t j, const gtsam::Cal3DS2& cal3ds2);
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void insert(size_t j, const gtsam::Cal3Fisheye& cal3fisheye);
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void insert(size_t j, const gtsam::Cal3Unified& cal3unified);
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void insert(size_t j, const gtsam::EssentialMatrix& E);
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void insert(size_t j, const gtsam::FundamentalMatrix& F);
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void insert(size_t j, const gtsam::SimpleFundamentalMatrix& F);
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void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
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void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3f>& camera);
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void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3_S2>& camera);
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void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3DS2>& camera);
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void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
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void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
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void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
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void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3f>& camera);
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void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3_S2>& camera);
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void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3DS2>& camera);
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void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Fisheye>& camera);
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void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
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void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
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void insert(size_t j, const gtsam::NavState& nav_state);
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void insert(size_t j, double c);
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template <T = {gtsam::Point2, gtsam::Point3}>
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void insert(size_t j, const T& val);
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// The order is important: gtsam::Vector has to precede Point2/Point3 so `atVector`
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// can work for those fixed-size vectors.
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void update(size_t j, gtsam::Vector vector);
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void update(size_t j, gtsam::Matrix matrix);
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void update(size_t j, const gtsam::Point2& point2);
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void update(size_t j, const gtsam::Point3& point3);
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void update(size_t j, const gtsam::Rot2& rot2);
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void update(size_t j, const gtsam::Pose2& pose2);
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void update(size_t j, const gtsam::SO3& R);
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void update(size_t j, const gtsam::SO4& Q);
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void update(size_t j, const gtsam::SOn& P);
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void update(size_t j, const gtsam::Rot3& rot3);
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void update(size_t j, const gtsam::Pose3& pose3);
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void update(size_t j, const gtsam::Unit3& unit3);
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void update(size_t j, const gtsam::Cal3Bundler& cal3bundler);
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void update(size_t j, const gtsam::Cal3f& cal3f);
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void update(size_t j, const gtsam::Cal3_S2& cal3_s2);
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void update(size_t j, const gtsam::Cal3DS2& cal3ds2);
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void update(size_t j, const gtsam::Cal3Fisheye& cal3fisheye);
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void update(size_t j, const gtsam::Cal3Unified& cal3unified);
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void update(size_t j, const gtsam::EssentialMatrix& E);
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void update(size_t j, const gtsam::FundamentalMatrix& F);
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void update(size_t j, const gtsam::SimpleFundamentalMatrix& F);
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void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
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void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3f>& camera);
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void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3_S2>& camera);
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void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3DS2>& camera);
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void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
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void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
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void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
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void update(size_t j, const gtsam::PinholePose<gtsam::Cal3f>& camera);
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void update(size_t j, const gtsam::PinholePose<gtsam::Cal3_S2>& camera);
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void update(size_t j, const gtsam::PinholePose<gtsam::Cal3DS2>& camera);
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void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Fisheye>& camera);
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void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
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void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
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void update(size_t j, const gtsam::NavState& nav_state);
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void update(size_t j, double c);
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// The order is important: gtsam::Vector has to precede Point2/Point3 so `atVector`
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// can work for those fixed-size vectors.
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void insert_or_assign(size_t j, gtsam::Vector vector);
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void insert_or_assign(size_t j, gtsam::Matrix matrix);
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void insert_or_assign(size_t j, const gtsam::Point2& point2);
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void insert_or_assign(size_t j, const gtsam::Point3& point3);
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void insert_or_assign(size_t j, const gtsam::Rot2& rot2);
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void insert_or_assign(size_t j, const gtsam::Pose2& pose2);
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void insert_or_assign(size_t j, const gtsam::SO3& R);
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void insert_or_assign(size_t j, const gtsam::SO4& Q);
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void insert_or_assign(size_t j, const gtsam::SOn& P);
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void insert_or_assign(size_t j, const gtsam::Rot3& rot3);
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void insert_or_assign(size_t j, const gtsam::Pose3& pose3);
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void insert_or_assign(size_t j, const gtsam::Unit3& unit3);
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void insert_or_assign(size_t j, const gtsam::Cal3Bundler& cal3bundler);
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void insert_or_assign(size_t j, const gtsam::Cal3f& cal3f);
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void insert_or_assign(size_t j, const gtsam::Cal3_S2& cal3_s2);
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void insert_or_assign(size_t j, const gtsam::Cal3DS2& cal3ds2);
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void insert_or_assign(size_t j, const gtsam::Cal3Fisheye& cal3fisheye);
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void insert_or_assign(size_t j, const gtsam::Cal3Unified& cal3unified);
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void insert_or_assign(size_t j, const gtsam::EssentialMatrix& E);
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void insert_or_assign(size_t j, const gtsam::FundamentalMatrix& F);
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void insert_or_assign(size_t j, const gtsam::SimpleFundamentalMatrix& F);
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void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
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void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3f>& camera);
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void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3_S2>& camera);
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void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3DS2>& camera);
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void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Fisheye>& camera);
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void insert_or_assign(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Unified>& camera);
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void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3Bundler>& camera);
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void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3f>& camera);
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void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3_S2>& camera);
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void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3DS2>& camera);
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void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3Fisheye>& camera);
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void insert_or_assign(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
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void insert_or_assign(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
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void insert_or_assign(size_t j, const gtsam::NavState& nav_state);
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void insert_or_assign(size_t j, double c);
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template <T = {gtsam::Point2,
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gtsam::Point3,
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gtsam::Rot2,
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gtsam::Pose2,
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gtsam::SO3,
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gtsam::SO4,
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gtsam::SOn,
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gtsam::Rot3,
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gtsam::Pose3,
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gtsam::Unit3,
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gtsam::Cal3Bundler,
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gtsam::Cal3f,
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gtsam::Cal3_S2,
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gtsam::Cal3DS2,
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gtsam::Cal3Fisheye,
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gtsam::Cal3Unified,
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gtsam::EssentialMatrix,
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gtsam::FundamentalMatrix,
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gtsam::SimpleFundamentalMatrix,
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gtsam::PinholeCamera<gtsam::Cal3Bundler>,
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gtsam::PinholeCamera<gtsam::Cal3f>,
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gtsam::PinholeCamera<gtsam::Cal3_S2>,
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gtsam::PinholeCamera<gtsam::Cal3DS2>,
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gtsam::PinholeCamera<gtsam::Cal3Fisheye>,
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gtsam::PinholeCamera<gtsam::Cal3Unified>,
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gtsam::PinholePose<gtsam::Cal3Bundler>,
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gtsam::PinholePose<gtsam::Cal3f>,
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gtsam::PinholePose<gtsam::Cal3_S2>,
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gtsam::PinholePose<gtsam::Cal3DS2>,
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gtsam::PinholePose<gtsam::Cal3Fisheye>,
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gtsam::PinholePose<gtsam::Cal3Unified>,
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gtsam::imuBias::ConstantBias,
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gtsam::NavState,
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gtsam::Vector,
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gtsam::Matrix,
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double}>
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T at(size_t j);
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};
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} // namespace gtsam
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