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wrap alternate ISAM2::update method

release/4.3a0
Varun Agrawal 2021-11-29 19:52:49 -05:00
parent bee289880a
commit 0b89d2d7ab
1 changed files with 4 additions and 0 deletions
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4
gtsam/nonlinear/nonlinear.i
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@ -738,6 +738,10 @@ class ISAM2 {
const gtsam::KeyList& extraReelimKeys, const gtsam::KeyList& extraReelimKeys,
bool force_relinearize); bool force_relinearize);
gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
const gtsam::Values& newTheta,
const gtsam::ISAM2UpdateParams& updateParams);
gtsam::Values getLinearizationPoint() const; gtsam::Values getLinearizationPoint() const;
bool valueExists(gtsam::Key key) const; bool valueExists(gtsam::Key key) const;
gtsam::Values calculateEstimate() const; gtsam::Values calculateEstimate() const;