diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index 2d6b7faac..1aa655ce8 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -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::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 +partialCholeskySummarization(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values, + const gtsam::KeySet& overlap_keys); //************************************************************************* // slam