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GaussianISAM interface

release/4.3a0
p-zach 2025-04-16 00:40:21 -04:00
parent 4c4bdd4ba7
commit 29f62f1d03
1 changed files with 9 additions and 0 deletions
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9
gtsam/linear/linear.i
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@ -704,11 +704,20 @@ virtual class GaussianEliminationTree {
class GaussianISAM { class GaussianISAM {
//Constructor //Constructor
GaussianISAM(); GaussianISAM();
GaussianISAM(const gtsam::GaussianBayesTree& bayesTree);
gtsam::VectorValues optimize() const;
gtsam::VectorValues optimizeGradientSearch() const;
gtsam::GaussianConditional* marginalFactor(size_t key) const;
//Standard Interface //Standard Interface
void update(const gtsam::GaussianFactorGraph& newFactors); void update(const gtsam::GaussianFactorGraph& newFactors);
void saveGraph(string s) const; void saveGraph(string s) const;
void clear(); void clear();
void print(const string name = "GaussianISAM: ",
const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const;
}; };
#include <gtsam/linear/IterativeSolver.h> #include <gtsam/linear/IterativeSolver.h>