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expose some iSAM2/FixedLagSmoothing functionality for the bindings

release/4.3a0
senselessDev 2022-01-22 15:35:53 +01:00
parent a2caa0caf7
commit 0814efafd7
3 changed files with 16 additions and 0 deletions
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7
gtsam/nonlinear/ISAM2Params.h
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@ -313,6 +313,10 @@ struct GTSAM_EXPORT ISAM2Params {
return enablePartialRelinearizationCheck; return enablePartialRelinearizationCheck;
} }
bool isFindUnusedFactorSlots() const {
return findUnusedFactorSlots;
}
void setOptimizationParams(OptimizationParams optimizationParams) { void setOptimizationParams(OptimizationParams optimizationParams) {
this->optimizationParams = optimizationParams; this->optimizationParams = optimizationParams;
} }
@ -344,6 +348,9 @@ struct GTSAM_EXPORT ISAM2Params {
bool enablePartialRelinearizationCheck) { bool enablePartialRelinearizationCheck) {
this->enablePartialRelinearizationCheck = enablePartialRelinearizationCheck; this->enablePartialRelinearizationCheck = enablePartialRelinearizationCheck;
} }
void setFindUnusedFactorSlots(bool findUnusedFactorSlots) {
this->findUnusedFactorSlots = findUnusedFactorSlots;
}
GaussianFactorGraph::Eliminate getEliminationFunction() const { GaussianFactorGraph::Eliminate getEliminationFunction() const {
return factorization == CHOLESKY return factorization == CHOLESKY

3
gtsam/nonlinear/nonlinear.i
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@ -696,6 +696,9 @@ class ISAM2Params {
bool isEnablePartialRelinearizationCheck() const; bool isEnablePartialRelinearizationCheck() const;
void setEnablePartialRelinearizationCheck( void setEnablePartialRelinearizationCheck(
bool enablePartialRelinearizationCheck); bool enablePartialRelinearizationCheck);
bool isFindUnusedFactorSlots() const;
void setFindUnusedFactorSlots(bool findUnusedFactorSlots);
}; };
class ISAM2Clique { class ISAM2Clique {

6
gtsam_unstable/gtsam_unstable.i
View File

@ -567,6 +567,10 @@ virtual class FixedLagSmoother {
double smootherLag() const; double smootherLag() const;
gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FixedLagSmootherKeyTimestampMap& timestamps); gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FixedLagSmootherKeyTimestampMap& timestamps);
gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph &newFactors,
const gtsam::Values &newTheta,
const gtsam::FixedLagSmootherKeyTimestampMap &timestamps,
const gtsam::FactorIndices &factorsToRemove);
gtsam::Values calculateEstimate() const; gtsam::Values calculateEstimate() const;
}; };
@ -590,6 +594,8 @@ virtual class IncrementalFixedLagSmoother : gtsam::FixedLagSmoother {
IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& params); IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& params);
gtsam::ISAM2Params params() const; gtsam::ISAM2Params params() const;
gtsam::NonlinearFactorGraph getFactors() const;
}; };
#include <gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h> #include <gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h>