From 114c86fc6bd1f81c57d5c9653cf15f8dd39596c8 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 3 Jan 2024 16:15:37 -0500 Subject: [PATCH] GaussianConditional wrapper for arbitrary number of keys --- gtsam/linear/linear.i | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i index d4a045f09..6862646ae 100644 --- a/gtsam/linear/linear.i +++ b/gtsam/linear/linear.i @@ -489,12 +489,17 @@ virtual class GaussianConditional : gtsam::JacobianFactor { GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, size_t name2, Matrix T, const gtsam::noiseModel::Diagonal* sigmas); + GaussianConditional(const vector> terms, + size_t nrFrontals, Vector d, + const gtsam::noiseModel::Diagonal* sigmas); // Constructors with no noise model GaussianConditional(size_t key, Vector d, Matrix R); GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S); GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, size_t name2, Matrix T); + GaussianConditional(const gtsam::KeyVector& keys, size_t nrFrontals, + const gtsam::VerticalBlockMatrix& augmentedMatrix); // Named constructors static gtsam::GaussianConditional FromMeanAndStddev(gtsam::Key key,