55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
/**
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* @file UrbanGraph.cpp
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* @brief A factor graph for the Urban problem
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* @author Frank Dellaert
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* @author Viorela Ila
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*/
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#include "FactorGraph-inl.h"
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#include "NonlinearOptimizer-inl.h"
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#include "UrbanGraph.h"
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namespace gtsam {
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// explicit instantiation so all the code is there and we can link with it
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template class FactorGraph<UrbanFactor>;
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template class NonlinearFactorGraph<UrbanConfig>;
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template class NonlinearOptimizer<UrbanGraph,UrbanConfig>;
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/* ************************************************************************* */
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UrbanGraph::UrbanGraph() {
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}
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/* ************************************************************************* */
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void UrbanGraph::print(const std::string& s) const {
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gtsam::NonlinearFactorGraph<UrbanConfig>::print(s);
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// TODO
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}
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/* ************************************************************************* */
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bool UrbanGraph::equals(const UrbanGraph& p, double tol) const {
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return gtsam::NonlinearFactorGraph<UrbanConfig>::equals(p, tol);
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// TODO
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}
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/* ************************************************************************* */
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void UrbanGraph::addMeasurement(double x, double y, double sigma, int p1,
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int p2) {
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// TODO
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}
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;
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/* ************************************************************************* */
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void UrbanGraph::addOdometry(double dx, double yaw, double sigmadx,
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double sigmayaw, int p) {
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// TODO
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}
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/* ************************************************************************* */
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void UrbanGraph::addOriginConstraint(int p) {
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// TODO
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}
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/* ************************************************************************* */
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} // namespace gtsam
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