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Expose all ordering methods

release/4.3a0
Frank Dellaert 2022-01-30 15:10:32 -05:00
parent 656a695267
commit 06fb94144b
1 changed files with 39 additions and 8 deletions
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47
gtsam/inference/inference.i
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@ -4,6 +4,12 @@
namespace gtsam { namespace gtsam {
// Headers for overloaded methods below, break hierarchy :-/
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/symbolic/SymbolicFactorGraph.h>
#include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/inference/Key.h> #include <gtsam/inference/Key.h>
// Default keyformatter // Default keyformatter
@ -98,10 +104,41 @@ class Ordering {
Ordering(); Ordering();
Ordering(const gtsam::Ordering& other); Ordering(const gtsam::Ordering& other);
template <FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, template <
gtsam::GaussianFactorGraph}> FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
static gtsam::Ordering Colamd(const FACTOR_GRAPH& graph); static gtsam::Ordering Colamd(const FACTOR_GRAPH& graph);
template <
FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
static gtsam::Ordering ColamdConstrainedLast(
const FACTOR_GRAPH& graph, const gtsam::KeyVector& constrainLast,
bool forceOrder = false);
template <
FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
static gtsam::Ordering ColamdConstrainedFirst(
const FACTOR_GRAPH& graph, const gtsam::KeyVector& constrainFirst,
bool forceOrder = false);
template <
FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
static gtsam::Ordering Natural(const FACTOR_GRAPH& graph);
template <
FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
static gtsam::Ordering Metis(const FACTOR_GRAPH& graph);
template <
FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph}>
static gtsam::Ordering Create(gtsam::Ordering::OrderingType orderingType,
const FACTOR_GRAPH& graph);
// Testable // Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
@ -135,12 +172,6 @@ class DotWriter {
}; };
#include <gtsam/inference/VariableIndex.h> #include <gtsam/inference/VariableIndex.h>
// Headers for overloaded methods below, break hierarchy :-/
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/symbolic/SymbolicFactorGraph.h>
class VariableIndex { class VariableIndex {
// Standard Constructors and Named Constructors // Standard Constructors and Named Constructors
VariableIndex(); VariableIndex();