Fixes to get matlab wrapper working properly
parent
ad0d7e4b21
commit
134e82836e
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@ -97,7 +97,7 @@ virtual class DiscreteConditional : gtsam::DecisionTreeFactor {
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const gtsam::Ordering& orderedKeys);
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gtsam::DiscreteConditional operator*(
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const gtsam::DiscreteConditional& other) const;
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DiscreteConditional marginal(gtsam::Key key) const;
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gtsam::DiscreteConditional marginal(gtsam::Key key) const;
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void print(string s = "Discrete Conditional\n",
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const gtsam::KeyFormatter& keyFormatter =
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gtsam::DefaultKeyFormatter) const;
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@ -223,12 +223,12 @@ enum KernelFunctionType {
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KernelFunctionTypeTUKEY
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};
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std::pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
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pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
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string filename, gtsam::noiseModel::Diagonal* model = nullptr,
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size_t maxIndex = 0, bool addNoise = false, bool smart = true,
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gtsam::NoiseFormat noiseFormat = gtsam::NoiseFormatAUTO,
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gtsam::NoiseFormat noiseFormat = gtsam::NoiseFormat::NoiseFormatAUTO,
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gtsam::KernelFunctionType kernelFunctionType =
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gtsam::KernelFunctionTypeNONE);
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gtsam::KernelFunctionType::KernelFunctionTypeNONE);
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void save2D(const gtsam::NonlinearFactorGraph& graph,
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const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
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@ -259,7 +259,7 @@ pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load3D(string filename);
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pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(
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string filename, const bool is3D = false,
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gtsam::KernelFunctionType kernelFunctionType =
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gtsam::KernelFunctionTypeNONE);
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gtsam::KernelFunctionType::KernelFunctionTypeNONE);
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void writeG2o(const gtsam::NonlinearFactorGraph& graph,
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const gtsam::Values& estimate, string filename);
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@ -68,6 +68,8 @@ set(interface_files
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${GTSAM_SOURCE_DIR}/gtsam/gtsam.i
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${GTSAM_SOURCE_DIR}/gtsam/base/base.i
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${GTSAM_SOURCE_DIR}/gtsam/basis/basis.i
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${PROJECT_SOURCE_DIR}/gtsam/inference/inference.i
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# ${PROJECT_SOURCE_DIR}/gtsam/discrete/discrete.i #TODO Matlab wrapper has a bug for raw pointers
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${GTSAM_SOURCE_DIR}/gtsam/geometry/geometry.i
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${GTSAM_SOURCE_DIR}/gtsam/linear/linear.i
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${GTSAM_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i
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@ -10,6 +10,3 @@
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* Without this they will be automatically converted to a Python object, and all
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* mutations on Python side will not be reflected on C++.
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*/
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#include <pybind11/stl.h>
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