12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #1083 from borglab/fixes/wrapper 

Fixes to get matlab wrapper working properly
release/4.3a0
Varun Agrawal 2022-02-02 10:12:07 -05:00 committed by GitHub
parent fb1e3c3df1 00d90f0412
commit 001014e159
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 16 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
gtsam/discrete/discrete.i
View File

@ -70,7 +70,7 @@ virtual class DecisionTreeFactor : gtsam::DiscreteFactor {
string dot( string dot(
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter, const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
bool showZero = true) const; bool showZero = true) const;
std::vector<std::pair<DiscreteValues, double>> enumerate() const; std::vector<std::pair<gtsam::DiscreteValues, double>> enumerate() const;
string markdown(const gtsam::KeyFormatter& keyFormatter = string markdown(const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
string markdown(const gtsam::KeyFormatter& keyFormatter, string markdown(const gtsam::KeyFormatter& keyFormatter,
@ -97,7 +97,7 @@ virtual class DiscreteConditional : gtsam::DecisionTreeFactor {
const gtsam::Ordering& orderedKeys); const gtsam::Ordering& orderedKeys);
gtsam::DiscreteConditional operator*( gtsam::DiscreteConditional operator*(
const gtsam::DiscreteConditional& other) const; const gtsam::DiscreteConditional& other) const;
DiscreteConditional marginal(gtsam::Key key) const; gtsam::DiscreteConditional marginal(gtsam::Key key) const;
void print(string s = "Discrete Conditional\n", void print(string s = "Discrete Conditional\n",
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
@ -269,16 +269,16 @@ class DiscreteFactorGraph {
gtsam::DiscreteLookupDAG maxProduct(gtsam::Ordering::OrderingType type); gtsam::DiscreteLookupDAG maxProduct(gtsam::Ordering::OrderingType type);
gtsam::DiscreteLookupDAG maxProduct(const gtsam::Ordering& ordering); gtsam::DiscreteLookupDAG maxProduct(const gtsam::Ordering& ordering);
gtsam::DiscreteBayesNet eliminateSequential(); gtsam::DiscreteBayesNet* eliminateSequential();
gtsam::DiscreteBayesNet eliminateSequential(gtsam::Ordering::OrderingType type); gtsam::DiscreteBayesNet* eliminateSequential(gtsam::Ordering::OrderingType type);
gtsam::DiscreteBayesNet eliminateSequential(const gtsam::Ordering& ordering); gtsam::DiscreteBayesNet* eliminateSequential(const gtsam::Ordering& ordering);
std::pair<gtsam::DiscreteBayesNet, gtsam::DiscreteFactorGraph> pair<gtsam::DiscreteBayesNet*, gtsam::DiscreteFactorGraph*>
eliminatePartialSequential(const gtsam::Ordering& ordering); eliminatePartialSequential(const gtsam::Ordering& ordering);
gtsam::DiscreteBayesTree eliminateMultifrontal(); gtsam::DiscreteBayesTree* eliminateMultifrontal();
gtsam::DiscreteBayesTree eliminateMultifrontal(gtsam::Ordering::OrderingType type); gtsam::DiscreteBayesTree* eliminateMultifrontal(gtsam::Ordering::OrderingType type);
gtsam::DiscreteBayesTree eliminateMultifrontal(const gtsam::Ordering& ordering); gtsam::DiscreteBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering);
std::pair<gtsam::DiscreteBayesTree, gtsam::DiscreteFactorGraph> pair<gtsam::DiscreteBayesTree*, gtsam::DiscreteFactorGraph*>
eliminatePartialMultifrontal(const gtsam::Ordering& ordering); eliminatePartialMultifrontal(const gtsam::Ordering& ordering);
string dot( string dot(

8
gtsam/slam/slam.i
View File

@ -223,12 +223,12 @@ enum KernelFunctionType {
KernelFunctionTypeTUKEY KernelFunctionTypeTUKEY
}; };
std::pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D( pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
string filename, gtsam::noiseModel::Diagonal* model = nullptr, string filename, gtsam::noiseModel::Diagonal* model = nullptr,
size_t maxIndex = 0, bool addNoise = false, bool smart = true, size_t maxIndex = 0, bool addNoise = false, bool smart = true,
gtsam::NoiseFormat noiseFormat = gtsam::NoiseFormatAUTO, gtsam::NoiseFormat noiseFormat = gtsam::NoiseFormat::NoiseFormatAUTO,
gtsam::KernelFunctionType kernelFunctionType = gtsam::KernelFunctionType kernelFunctionType =
gtsam::KernelFunctionTypeNONE); gtsam::KernelFunctionType::KernelFunctionTypeNONE);
void save2D(const gtsam::NonlinearFactorGraph& graph, void save2D(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& config, gtsam::noiseModel::Diagonal* model, const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
@ -259,7 +259,7 @@ pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load3D(string filename);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o( pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(
string filename, const bool is3D = false, string filename, const bool is3D = false,
gtsam::KernelFunctionType kernelFunctionType = gtsam::KernelFunctionType kernelFunctionType =
gtsam::KernelFunctionTypeNONE); gtsam::KernelFunctionType::KernelFunctionTypeNONE);
void writeG2o(const gtsam::NonlinearFactorGraph& graph, void writeG2o(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& estimate, string filename); const gtsam::Values& estimate, string filename);

2
matlab/CMakeLists.txt
View File

@ -68,6 +68,8 @@ set(interface_files
${GTSAM_SOURCE_DIR}/gtsam/gtsam.i ${GTSAM_SOURCE_DIR}/gtsam/gtsam.i
${GTSAM_SOURCE_DIR}/gtsam/base/base.i ${GTSAM_SOURCE_DIR}/gtsam/base/base.i
${GTSAM_SOURCE_DIR}/gtsam/basis/basis.i ${GTSAM_SOURCE_DIR}/gtsam/basis/basis.i
${PROJECT_SOURCE_DIR}/gtsam/inference/inference.i
${PROJECT_SOURCE_DIR}/gtsam/discrete/discrete.i
${GTSAM_SOURCE_DIR}/gtsam/geometry/geometry.i ${GTSAM_SOURCE_DIR}/gtsam/geometry/geometry.i
${GTSAM_SOURCE_DIR}/gtsam/linear/linear.i ${GTSAM_SOURCE_DIR}/gtsam/linear/linear.i
${GTSAM_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i ${GTSAM_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i

3
python/gtsam/preamble/inference.h
View File

@ -10,6 +10,3 @@
* Without this they will be automatically converted to a Python object, and all * Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++. * mutations on Python side will not be reflected on C++.
*/ */
#include <pybind11/stl.h>