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Moved summarization functions

release/4.3a0
Alex Cunningham 2013-03-23 20:19:43 +00:00
parent f45c5c5f44
commit 233c8aa7bb
1 changed files with 10 additions and 1 deletions
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11
gtsam_unstable/gtsam_unstable.h
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@ -19,7 +19,8 @@ class gtsam::GaussianFactorGraph;
class gtsam::NonlinearFactorGraph;
class gtsam::Ordering;
class gtsam::Values;
class gtsam::InvertedOrdering;
class gtsam::KeySet;
class gtsam::KeyVector;
namespace gtsam {
@ -369,7 +370,15 @@ virtual class DGroundConstraint : gtsam::NonlinearFactor {
//*************************************************************************
// nonlinear
//*************************************************************************
#include <gtsam_unstable/nonlinear/summarization.h>
gtsam::GaussianFactorGraph* summarizeGraphSequential(
const gtsam::GaussianFactorGraph& full_graph, const gtsam::KeyVector& indices);
gtsam::GaussianFactorGraph* summarizeGraphSequential(
const gtsam::GaussianFactorGraph& full_graph, const gtsam::Ordering& ordering, const gtsam::KeySet& saved_keys);
pair<gtsam::GaussianFactorGraph,gtsam::Ordering>
partialCholeskySummarization(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values,
const gtsam::KeySet& overlap_keys);
//*************************************************************************
// slam