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Merged in fix/wrappers (pull request #380) 

close issue #413
close issue #421
Fix/wrappers
release/4.3a0
Frank Dellaert 2019-02-12 00:07:41 +00:00
parent c84496632f 7138236f71
commit 2a0153cf25
9 changed files with 38 additions and 899 deletions
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112
cython/gtsam/tests/experiments.py
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@ -1,112 +0,0 @@
"""
This file is not a real python unittest. It contains small experiments
to test the wrapper with gtsam_test, a short version of gtsam.h.
Its name convention is different from other tests so it won't be discovered.
"""
import gtsam
import numpy as np
r = gtsam.Rot3()
print(r)
print(r.pitch())
r2 = gtsam.Rot3()
r3 = r.compose(r2)
print("r3 pitch:", r3.pitch())
v = np.array([1, 1, 1])
print("v = ", v)
r4 = r3.retract(v)
print("r4 pitch:", r4.pitch())
r4.print_(b'r4: ')
r3.print_(b"r3: ")
v = r3.localCoordinates(r4)
print("localCoordinates:", v)
Rmat = np.array([
[0.990074, -0.0942928, 0.104218],
[0.104218, 0.990074, -0.0942928],
[-0.0942928, 0.104218, 0.990074]
])
r5 = gtsam.Rot3(Rmat)
r5.print_(b"r5: ")
l = gtsam.Rot3.Logmap(r5)
print("l = ", l)
noise = gtsam.noiseModel_Gaussian.Covariance(Rmat)
noise.print_(b"noise:")
D = np.array([1.,2.,3.])
diag = gtsam.noiseModel_Diagonal.Variances(D)
print("diag:", diag)
diag.print_(b"diag:")
print("diag R:", diag.R())
p = gtsam.Point3()
p.print_("p:")
factor = gtsam.BetweenFactorPoint3(1,2,p, noise)
factor.print_(b"factor:")
vv = gtsam.VectorValues()
vv.print_(b"vv:")
vv.insert(1, np.array([1.,2.,3.]))
vv.insert(2, np.array([3.,4.]))
vv.insert(3, np.array([5.,6.,7.,8.]))
vv.print_(b"vv:")
vv2 = gtsam.VectorValues(vv)
vv2.insert(4, np.array([4.,2.,1]))
vv2.print_(b"vv2:")
vv.print_(b"vv:")
vv.insert(4, np.array([1.,2.,4.]))
vv.print_(b"vv:")
vv3 = vv.add(vv2)
vv3.print_(b"vv3:")
values = gtsam.Values()
values.insert(1, gtsam.Point3())
values.insert(2, gtsam.Rot3())
values.print_(b"values:")
factor = gtsam.PriorFactorVector(1, np.array([1.,2.,3.]), diag)
print "Prior factor vector: ", factor
keys = gtsam.KeyVector()
keys.push_back(1)
keys.push_back(2)
print 'size: ', keys.size()
print keys.at(0)
print keys.at(1)
noise = gtsam.noiseModel_Isotropic.Precision(2, 3.0)
noise.print_('noise:')
print 'noise print:', noise
f = gtsam.JacobianFactor(7, np.ones([2,2]), model=noise, b=np.ones(2))
print 'JacobianFactor(7):\n', f
print "A = ", f.getA()
print "b = ", f.getb()
f = gtsam.JacobianFactor(np.ones(2))
f.print_('jacoboian b_in:')
print "JacobianFactor initalized with b_in:", f
diag = gtsam.noiseModel_Diagonal.Sigmas(np.array([1.,2.,3.]))
fv = gtsam.PriorFactorVector(1, np.array([4.,5.,6.]), diag)
print "priorfactorvector: ", fv
print "base noise: ", fv.get_noiseModel()
print "casted to gaussian2: ", gtsam.dynamic_cast_noiseModel_Diagonal_noiseModel_Base(fv.get_noiseModel())
X = gtsam.symbol(65, 19)
print X
print gtsam.symbolChr(X)
print gtsam.symbolIndex(X)

772
cython/gtsam/tests/gtsam_test.h
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namespace gtsam {
#include <gtsam/inference/Key.h>
typedef size_t Key;
#include <gtsam/base/FastVector.h>
template<T> class FastVector {
FastVector();
FastVector(const This& f);
void push_back(const T& e);
//T& operator[](int);
T at(int i);
size_t size() const;
};
typedef gtsam::FastVector<gtsam::Key> KeyVector;
//*************************************************************************
// geometry
//*************************************************************************
#include <gtsam/geometry/Point2.h>
class Point2 {
// Standard Constructors
Point2();
Point2(double x, double y);
Point2(Vector v);
//Point2(const gtsam::Point2& l);
// Testable
void print(string s) const;
bool equals(const gtsam::Point2& pose, double tol) const;
// Group
static gtsam::Point2 identity();
// Standard Interface
double x() const;
double y() const;
Vector vector() const;
double distance(const gtsam::Point2& p2) const;
double norm() const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/geometry/Point3.h>
class Point3 {
// Standard Constructors
Point3();
Point3(double x, double y, double z);
Point3(Vector v);
//Point3(const gtsam::Point3& l);
// Testable
void print(string s) const;
bool equals(const gtsam::Point3& p, double tol) const;
// Group
static gtsam::Point3 identity();
// Standard Interface
Vector vector() const;
double x() const;
double y() const;
double z() const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/geometry/Rot2.h>
class Rot2 {
// Standard Constructors and Named Constructors
Rot2();
Rot2(double theta);
//Rot2(const gtsam::Rot2& l);
static gtsam::Rot2 fromAngle(double theta);
static gtsam::Rot2 fromDegrees(double theta);
static gtsam::Rot2 fromCosSin(double c, double s);
// Testable
void print(string s) const;
bool equals(const gtsam::Rot2& rot, double tol) const;
// Group
static gtsam::Rot2 identity();
gtsam::Rot2 inverse();
gtsam::Rot2 compose(const gtsam::Rot2& p2) const;
gtsam::Rot2 between(const gtsam::Rot2& p2) const;
// Manifold
gtsam::Rot2 retract(Vector v) const;
Vector localCoordinates(const gtsam::Rot2& p) const;
// Lie Group
static gtsam::Rot2 Expmap(Vector v);
static Vector Logmap(const gtsam::Rot2& p);
// Group Action on Point2
gtsam::Point2 rotate(const gtsam::Point2& point) const;
gtsam::Point2 unrotate(const gtsam::Point2& point) const;
// Standard Interface
static gtsam::Rot2 relativeBearing(const gtsam::Point2& d); // Ignoring derivative
static gtsam::Rot2 atan2(double y, double x);
double theta() const;
double degrees() const;
double c() const;
double s() const;
Matrix matrix() const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/geometry/Rot3.h>
class Rot3 {
// Standard Constructors and Named Constructors
Rot3();
Rot3(Matrix R);
//Rot3(const gtsam::Rot3& l);
static gtsam::Rot3 Rx(double t);
static gtsam::Rot3 Ry(double t);
static gtsam::Rot3 Rz(double t);
static gtsam::Rot3 RzRyRx(double x, double y, double z);
static gtsam::Rot3 RzRyRx(Vector xyz);
static gtsam::Rot3 Yaw(double t); // positive yaw is to right (as in aircraft heading)
static gtsam::Rot3 Pitch(double t); // positive pitch is up (increasing aircraft altitude)
static gtsam::Rot3 Roll(double t); // positive roll is to right (increasing yaw in aircraft)
static gtsam::Rot3 Ypr(double y, double p, double r);
static gtsam::Rot3 Quaternion(double w, double x, double y, double z);
static gtsam::Rot3 Rodrigues(Vector v);
// Testable
void print(string s) const;
bool equals(const gtsam::Rot3& rot, double tol) const;
// Group
static gtsam::Rot3 identity();
gtsam::Rot3 inverse() const;
gtsam::Rot3 compose(const gtsam::Rot3& p2) const;
gtsam::Rot3 between(const gtsam::Rot3& p2) const;
// Manifold
//gtsam::Rot3 retractCayley(Vector v) const; // FIXME, does not exist in both Matrix and Quaternion options
gtsam::Rot3 retract(Vector v) const;
Vector localCoordinates(const gtsam::Rot3& p) const;
// Group Action on Point3
gtsam::Point3 rotate(const gtsam::Point3& p) const;
gtsam::Point3 unrotate(const gtsam::Point3& p) const;
// Standard Interface
static gtsam::Rot3 Expmap(Vector v);
static Vector Logmap(const gtsam::Rot3& p);
Matrix matrix() const;
Matrix transpose() const;
gtsam::Point3 column(size_t index) const;
Vector xyz() const;
Vector ypr() const;
Vector rpy() const;
double roll() const;
double pitch() const;
double yaw() const;
// Vector toQuaternion() const; // FIXME: Can't cast to Vector properly
Vector quaternion() const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/geometry/Pose2.h>
class Pose2 {
// Standard Constructor
Pose2();
//Pose2(const gtsam::Pose2& pose);
Pose2(double x, double y, double theta);
Pose2(double theta, const gtsam::Point2& t);
Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
Pose2(Vector v);
// Testable
void print(string s) const;
bool equals(const gtsam::Pose2& pose, double tol) const;
// Group
static gtsam::Pose2 identity();
gtsam::Pose2 inverse() const;
gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
gtsam::Pose2 between(const gtsam::Pose2& p2) const;
// Manifold
gtsam::Pose2 retract(Vector v) const;
Vector localCoordinates(const gtsam::Pose2& p) const;
// Lie Group
static gtsam::Pose2 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose2& p);
Matrix AdjointMap() const;
Vector Adjoint(const Vector& xi) const;
static Matrix wedge(double vx, double vy, double w);
// Group Actions on Point2
gtsam::Point2 transform_from(const gtsam::Point2& p) const;
gtsam::Point2 transform_to(const gtsam::Point2& p) const;
// Standard Interface
double x() const;
double y() const;
double theta() const;
gtsam::Rot2 bearing(const gtsam::Point2& point) const;
double range(const gtsam::Point2& point) const;
gtsam::Point2 translation() const;
gtsam::Rot2 rotation() const;
Matrix matrix() const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/geometry/Pose3.h>
class Pose3 {
// Standard Constructors
Pose3();
//Pose3(const gtsam::Pose3& pose);
Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
Pose3(Matrix t);
// Testable
void print(string s) const;
bool equals(const gtsam::Pose3& pose, double tol) const;
// Group
static gtsam::Pose3 identity();
gtsam::Pose3 inverse() const;
gtsam::Pose3 compose(const gtsam::Pose3& p2) const;
gtsam::Pose3 between(const gtsam::Pose3& p2) const;
// Manifold
gtsam::Pose3 retract(Vector v) const;
Vector localCoordinates(const gtsam::Pose3& T2) const;
// Lie Group
static gtsam::Pose3 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose3& p);
Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const;
static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz);
// Group Action on Point3
gtsam::Point3 transform_from(const gtsam::Point3& p) const;
gtsam::Point3 transform_to(const gtsam::Point3& p) const;
// Standard Interface
gtsam::Rot3 rotation() const;
gtsam::Point3 translation() const;
double x() const;
double y() const;
double z() const;
Matrix matrix() const;
gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to()
double range(const gtsam::Point3& point);
double range(const gtsam::Pose3& pose);
// enabling serialization functionality
void serialize() const;
};
//*************************************************************************
// noise
//*************************************************************************
namespace noiseModel {
#include <gtsam/linear/NoiseModel.h>
virtual class Base {
};
virtual class Gaussian : gtsam::noiseModel::Base {
static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R);
static gtsam::noiseModel::Gaussian* Covariance(Matrix R);
Matrix R() const;
bool equals(gtsam::noiseModel::Base& expected, double tol);
void print(string s) const;
// enabling serialization functionality
void serializable() const;
};
virtual class Diagonal : gtsam::noiseModel::Gaussian {
static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas);
static gtsam::noiseModel::Diagonal* Variances(Vector variances);
static gtsam::noiseModel::Diagonal* Precisions(Vector precisions);
Matrix R() const;
void print(string s) const;
// enabling serialization functionality
void serializable() const;
};
virtual class Constrained : gtsam::noiseModel::Diagonal {
static gtsam::noiseModel::Constrained* MixedSigmas(const Vector& mu, const Vector& sigmas);
static gtsam::noiseModel::Constrained* MixedSigmas(double m, const Vector& sigmas);
static gtsam::noiseModel::Constrained* MixedVariances(const Vector& mu, const Vector& variances);
static gtsam::noiseModel::Constrained* MixedVariances(const Vector& variances);
static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& mu, const Vector& precisions);
static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& precisions);
static gtsam::noiseModel::Constrained* All(size_t dim);
static gtsam::noiseModel::Constrained* All(size_t dim, double mu);
gtsam::noiseModel::Constrained* unit() const;
// enabling serialization functionality
void serializable() const;
};
virtual class Isotropic : gtsam::noiseModel::Diagonal {
static gtsam::noiseModel::Isotropic* Sigma(size_t dim, double sigma);
static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace);
static gtsam::noiseModel::Isotropic* Precision(size_t dim, double precision);
void print(string s) const;
// enabling serialization functionality
void serializable() const;
};
virtual class Unit : gtsam::noiseModel::Isotropic {
static gtsam::noiseModel::Unit* Create(size_t dim);
void print(string s) const;
// enabling serialization functionality
void serializable() const;
};
namespace mEstimator {
virtual class Base {
};
virtual class Null: gtsam::noiseModel::mEstimator::Base {
Null();
//Null(const gtsam::noiseModel::mEstimator::Null& other);
void print(string s) const;
static gtsam::noiseModel::mEstimator::Null* Create();
// enabling serialization functionality
void serializable() const;
};
virtual class Fair: gtsam::noiseModel::mEstimator::Base {
Fair(double c);
//Fair(const gtsam::noiseModel::mEstimator::Fair& other);
void print(string s) const;
static gtsam::noiseModel::mEstimator::Fair* Create(double c);
// enabling serialization functionality
void serializable() const;
};
virtual class Huber: gtsam::noiseModel::mEstimator::Base {
Huber(double k);
//Huber(const gtsam::noiseModel::mEstimator::Huber& other);
void print(string s) const;
static gtsam::noiseModel::mEstimator::Huber* Create(double k);
// enabling serialization functionality
void serializable() const;
};
virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
Tukey(double k);
//Tukey(const gtsam::noiseModel::mEstimator::Tukey& other);
void print(string s) const;
static gtsam::noiseModel::mEstimator::Tukey* Create(double k);
// enabling serialization functionality
void serializable() const;
};
}///\namespace mEstimator
virtual class Robust : gtsam::noiseModel::Base {
Robust(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
//Robust(const gtsam::noiseModel::Robust& other);
static gtsam::noiseModel::Robust* Create(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
void print(string s) const;
// enabling serialization functionality
void serializable() const;
};
}///\namespace noiseModel
#include <gtsam/linear/Sampler.h>
class Sampler {
//Constructors
Sampler(gtsam::noiseModel::Diagonal* model, int seed);
Sampler(Vector sigmas, int seed);
Sampler(int seed);
//Sampler(const gtsam::Sampler& other);
//Standard Interface
size_t dim() const;
Vector sigmas() const;
gtsam::noiseModel::Diagonal* model() const;
Vector sample();
Vector sampleNewModel(gtsam::noiseModel::Diagonal* model);
};
#include <gtsam/linear/VectorValues.h>
class VectorValues {
//Constructors
VectorValues();
VectorValues(const gtsam::VectorValues& other);
//Named Constructors
static gtsam::VectorValues Zero(const gtsam::VectorValues& model);
//Standard Interface
size_t size() const;
size_t dim(size_t j) const;
bool exists(size_t j) const;
void print(string s) const;
bool equals(const gtsam::VectorValues& expected, double tol) const;
void insert(size_t j, Vector value);
Vector vector() const;
Vector at(size_t j) const;
void update(const gtsam::VectorValues& values);
//Advanced Interface
void setZero();
gtsam::VectorValues add(const gtsam::VectorValues& c) const;
void addInPlace(const gtsam::VectorValues& c);
gtsam::VectorValues subtract(const gtsam::VectorValues& c) const;
gtsam::VectorValues scale(double a) const;
void scaleInPlace(double a);
bool hasSameStructure(const gtsam::VectorValues& other) const;
double dot(const gtsam::VectorValues& V) const;
double norm() const;
double squaredNorm() const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/linear/GaussianFactor.h>
virtual class GaussianFactor {
gtsam::KeyVector keys() const;
void print(string s) const;
bool equals(const gtsam::GaussianFactor& lf, double tol) const;
double error(const gtsam::VectorValues& c) const;
gtsam::GaussianFactor* clone() const;
gtsam::GaussianFactor* negate() const;
Matrix augmentedInformation() const;
Matrix information() const;
Matrix augmentedJacobian() const;
pair<Matrix, Vector> jacobian() const;
size_t size() const;
bool empty() const;
};
#include <gtsam/linear/JacobianFactor.h>
virtual class JacobianFactor : gtsam::GaussianFactor {
//Constructors
JacobianFactor();
JacobianFactor(const gtsam::GaussianFactor& factor);
JacobianFactor(Vector b_in);
JacobianFactor(size_t i1, Matrix A1, Vector b,
const gtsam::noiseModel::Diagonal* model);
JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b,
const gtsam::noiseModel::Diagonal* model);
JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
Vector b, const gtsam::noiseModel::Diagonal* model);
//JacobianFactor(const gtsam::GaussianFactorGraph& graph);
//JacobianFactor(const gtsam::JacobianFactor& other);
//Testable
void print(string s) const;
void printKeys(string s) const;
bool equals(const gtsam::GaussianFactor& lf, double tol) const;
size_t size() const;
Vector unweighted_error(const gtsam::VectorValues& c) const;
Vector error_vector(const gtsam::VectorValues& c) const;
double error(const gtsam::VectorValues& c) const;
//Standard Interface
Matrix getA() const;
Vector getb() const;
size_t rows() const;
size_t cols() const;
bool isConstrained() const;
pair<Matrix, Vector> jacobianUnweighted() const;
Matrix augmentedJacobianUnweighted() const;
void transposeMultiplyAdd(double alpha, const Vector& e, gtsam::VectorValues& x) const;
gtsam::JacobianFactor whiten() const;
//pair<gtsam::GaussianConditional*, gtsam::JacobianFactor*> eliminate(const gtsam::Ordering& keys) const;
void setModel(bool anyConstrained, const Vector& sigmas);
gtsam::noiseModel::Diagonal* get_model() const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/linear/HessianFactor.h>
virtual class HessianFactor : gtsam::GaussianFactor {
//Constructors
HessianFactor();
HessianFactor(const gtsam::GaussianFactor& factor);
HessianFactor(size_t j, Matrix G, Vector g, double f);
HessianFactor(size_t j, Vector mu, Matrix Sigma);
HessianFactor(size_t j1, size_t j2, Matrix G11, Matrix G12, Vector g1, Matrix G22,
Vector g2, double f);
HessianFactor(size_t j1, size_t j2, size_t j3, Matrix G11, Matrix G12, Matrix G13,
Vector g1, Matrix G22, Matrix G23, Vector g2, Matrix G33, Vector g3,
double f);
//HessianFactor(const gtsam::GaussianFactorGraph& factors);
//HessianFactor(const gtsam::HessianFactor& other);
//Testable
size_t size() const;
void print(string s) const;
void printKeys(string s) const;
bool equals(const gtsam::GaussianFactor& lf, double tol) const;
double error(const gtsam::VectorValues& c) const;
//Standard Interface
size_t rows() const;
Matrix information() const;
double constantTerm() const;
Vector linearTerm() const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/nonlinear/Values.h>
class Values {
Values();
//Values(const gtsam::Values& other);
size_t size() const;
bool empty() const;
void clear();
size_t dim() const;
void print(string s) const;
bool equals(const gtsam::Values& other, double tol) const;
void insert(const gtsam::Values& values);
void update(const gtsam::Values& values);
void erase(size_t j);
void swap(gtsam::Values& values);
bool exists(size_t j) const;
gtsam::KeyVector keys() const;
gtsam::VectorValues zeroVectors() const;
gtsam::Values retract(const gtsam::VectorValues& delta) const;
gtsam::VectorValues localCoordinates(const gtsam::Values& cp) const;
// enabling serialization functionality
void serialize() const;
// New in 4.0, we have to specialize every insert/update/at to generate wrappers
// Instead of the old:
// void insert(size_t j, const gtsam::Value& value);
// void update(size_t j, const gtsam::Value& val);
// gtsam::Value at(size_t j) const;
// template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
// gtsam::Rot3, gtsam::Pose3}>
// void insert(size_t j, const T& t);
// template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
// gtsam::Rot3, gtsam::Pose3}>
// void update(size_t j, const T& t);
void insert(size_t j, const gtsam::Point2& t);
void insert(size_t j, const gtsam::Point3& t);
void insert(size_t j, const gtsam::Rot2& t);
void insert(size_t j, const gtsam::Pose2& t);
void insert(size_t j, const gtsam::Rot3& t);
void insert(size_t j, const gtsam::Pose3& t);
void insert(size_t j, Vector t);
void insert(size_t j, Matrix t);
void update(size_t j, const gtsam::Point2& t);
void update(size_t j, const gtsam::Point3& t);
void update(size_t j, const gtsam::Rot2& t);
void update(size_t j, const gtsam::Pose2& t);
void update(size_t j, const gtsam::Rot3& t);
void update(size_t j, const gtsam::Pose3& t);
void update(size_t j, Vector t);
void update(size_t j, Matrix t);
template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, Vector, Matrix}>
T at(size_t j);
/// version for double
void insertDouble(size_t j, double c);
double atDouble(size_t j) const;
};
#include <gtsam/nonlinear/NonlinearFactor.h>
virtual class NonlinearFactor {
// Factor base class
size_t size() const;
gtsam::KeyVector keys() const;
void print(string s) const;
void printKeys(string s) const;
// NonlinearFactor
bool equals(const gtsam::NonlinearFactor& other, double tol) const;
double error(const gtsam::Values& c) const;
size_t dim() const;
bool active(const gtsam::Values& c) const;
gtsam::GaussianFactor* linearize(const gtsam::Values& c) const;
gtsam::NonlinearFactor* clone() const;
// gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen
};
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
class NonlinearFactorGraph {
NonlinearFactorGraph();
//NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph);
// FactorGraph
void print(string s) const;
bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const;
size_t size() const;
bool empty() const;
void remove(size_t i);
size_t nrFactors() const;
gtsam::NonlinearFactor* at(size_t idx) const;
void push_back(const gtsam::NonlinearFactorGraph& factors);
void push_back(gtsam::NonlinearFactor* factor);
void add(gtsam::NonlinearFactor* factor);
bool exists(size_t idx) const;
// gtsam::KeySet keys() const;
// NonlinearFactorGraph
double error(const gtsam::Values& values) const;
double probPrime(const gtsam::Values& values) const;
//gtsam::Ordering orderingCOLAMD() const;
// Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map<gtsam::Key,int>& constraints) const;
//gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values) const;
gtsam::NonlinearFactorGraph clone() const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/nonlinear/NonlinearFactor.h>
virtual class NoiseModelFactor: gtsam::NonlinearFactor {
void equals(const gtsam::NoiseModelFactor& other, double tol) const;
gtsam::noiseModel::Base* get_noiseModel() const; // deprecated by below
gtsam::noiseModel::Base* noiseModel() const;
Vector unwhitenedError(const gtsam::Values& x) const;
Vector whitenedError(const gtsam::Values& x) const;
};
#include <gtsam/slam/PriorFactor.h>
template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
virtual class PriorFactor : gtsam::NoiseModelFactor {
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
//PriorFactor(const This& other);
T prior() const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/slam/BetweenFactor.h>
template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
virtual class BetweenFactor : gtsam::NoiseModelFactor {
BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
//BetweenFactor(const This& other);
T measured() const;
// enabling serialization functionality
void serialize() const;
};
#include <gtsam/inference/Symbol.h>
size_t symbol(char chr, size_t index);
char symbolChr(size_t key);
size_t symbolIndex(size_t key);
#include <gtsam/inference/Key.h>
// Default keyformatter
void PrintKeyVector(const gtsam::KeyVector& keys);
void PrintKeyVector(const gtsam::KeyVector& keys, string s);
#include <gtsam/nonlinear/NonlinearOptimizer.h>
bool checkConvergence(double relativeErrorTreshold,
double absoluteErrorTreshold, double errorThreshold,
double currentError, double newError);
#include <gtsam/slam/dataset.h>
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
gtsam::noiseModel::Diagonal* model, int maxID);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
gtsam::noiseModel::Diagonal* model);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D_robust(string filename,
gtsam::noiseModel::Base* model);
void save2D(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
string filename);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(string filename);
void writeG2o(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& estimate, string filename);
//*************************************************************************
// Utilities
//*************************************************************************
namespace utilities {
#include <gtsam/nonlinear/utilities.h>
// gtsam::KeyList createKeyList(Vector I);
// gtsam::KeyList createKeyList(string s, Vector I);
gtsam::KeyVector createKeyVector(Vector I);
gtsam::KeyVector createKeyVector(string s, Vector I);
// gtsam::KeySet createKeySet(Vector I);
// gtsam::KeySet createKeySet(string s, Vector I);
Matrix extractPoint2(const gtsam::Values& values);
Matrix extractPoint3(const gtsam::Values& values);
Matrix extractPose2(const gtsam::Values& values);
gtsam::Values allPose3s(gtsam::Values& values);
Matrix extractPose3(const gtsam::Values& values);
void perturbPoint2(gtsam::Values& values, double sigma, int seed);
void perturbPose2 (gtsam::Values& values, double sigmaT, double sigmaR, int seed);
void perturbPoint3(gtsam::Values& values, double sigma, int seed);
// void insertBackprojections(gtsam::Values& values, const gtsam::SimpleCamera& c, Vector J, Matrix Z, double depth);
// void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K);
// void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K, const gtsam::Pose3& body_P_sensor);
Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values);
gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base);
gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base, const gtsam::KeyVector& keys);
} //\namespace utilities
#include <gtsam/nonlinear/utilities.h>
class RedirectCout {
RedirectCout();
string str();
};
} //\namespace gtsam

21
cython/gtsam/tests/test_Pose2.py Normal file
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@ -0,0 +1,21 @@
"""Pose2 unit tests."""
import unittest
import numpy as np
from gtsam import Pose2
class TestPose2(unittest.TestCase):
"""Test selected Pose2 methods."""
def test_adjoint(self):
"""Test adjoint method."""
xi = np.array([1, 2, 3])
expected = np.dot(Pose2.adjointMap_(xi), xi)
actual = Pose2.adjoint_(xi, xi)
np.testing.assert_array_equal(actual, expected)
if __name__ == "__main__":
unittest.main()

4
cython/gtsam/tests/test_Pose3.py
View File

@ -49,8 +49,8 @@ class TestPose3(unittest.TestCase):
def test_adjoint(self):
"""Test adjoint method."""
xi = np.array([1, 2, 3, 4, 5, 6])
expected = np.dot(Pose3.adjointMap(xi), xi)
actual = Pose3.adjoint(xi, xi)
expected = np.dot(Pose3.adjointMap_(xi), xi)
actual = Pose3.adjoint_(xi, xi)
np.testing.assert_array_equal(actual, expected)

10
gtsam.h
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@ -577,9 +577,9 @@ class Pose2 {
static Matrix LogmapDerivative(const gtsam::Pose2& v);
Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const;
static Matrix adjointMap(Vector v);
Vector adjoint(Vector xi, Vector y);
Vector adjointTranspose(Vector xi, Vector y);
static Matrix adjointMap_(Vector v);
static Vector adjoint_(Vector xi, Vector y);
static Vector adjointTranspose(Vector xi, Vector y);
static Matrix wedge(double vx, double vy, double w);
// Group Actions on Point2
@ -628,8 +628,8 @@ class Pose3 {
static Vector Logmap(const gtsam::Pose3& pose);
Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const;
static Matrix adjointMap(Vector xi);
static Vector adjoint(Vector xi, Vector y);
static Matrix adjointMap_(Vector xi);
static Vector adjoint_(Vector xi, Vector y);
static Vector adjointTranspose(Vector xi, Vector y);
static Matrix ExpmapDerivative(Vector xi);
static Matrix LogmapDerivative(const gtsam::Pose3& xi);

8
gtsam/geometry/Pose2.h
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@ -146,17 +146,21 @@ public:
/**
* Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
*/
Vector3 adjoint(const Vector3& xi, const Vector3& y) {
static Vector3 adjoint(const Vector3& xi, const Vector3& y) {
return adjointMap(xi) * y;
}
/**
* The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.
*/
Vector3 adjointTranspose(const Vector3& xi, const Vector3& y) {
static Vector3 adjointTranspose(const Vector3& xi, const Vector3& y) {
return adjointMap(xi).transpose() * y;
}
// temporary fix for wrappers until case issue is resolved
static Matrix3 adjointMap_(const Vector3 &xi) { return adjointMap(xi);}
static Vector3 adjoint_(const Vector3 &xi, const Vector3 &y) { return adjoint(xi, y);}
/**
* wedge for SE(2):
* @param xi 3-dim twist (v,omega) where

4
gtsam/geometry/Pose3.h
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@ -160,6 +160,10 @@ public:
static Vector6 adjoint(const Vector6 &xi, const Vector6 &y,
OptionalJacobian<6, 6> = boost::none);
// temporary fix for wrappers until case issue is resolved
static Matrix6 adjointMap_(const Vector6 &xi) { return adjointMap(xi);}
static Vector6 adjoint_(const Vector6 &xi, const Vector6 &y) { return adjoint(xi, y);}
/**
* The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.
*/

4
gtsam/slam/dataset.cpp
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@ -51,7 +51,6 @@ using namespace gtsam::symbol_shorthand;
namespace gtsam {
#ifndef MATLAB_MEX_FILE
/* ************************************************************************* */
string findExampleDataFile(const string& name) {
// Search source tree and installed location
@ -100,9 +99,6 @@ string createRewrittenFileName(const string& name) {
return newpath.string();
}
/* ************************************************************************* */
#endif
/* ************************************************************************* */
GraphAndValues load2D(pair<string, SharedNoiseModel> dataset, int maxID,
bool addNoise, bool smart, NoiseFormat noiseFormat,

2
gtsam/slam/dataset.h
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@ -37,7 +37,6 @@
namespace gtsam {
#ifndef MATLAB_MEX_FILE
/**
* Find the full path to an example dataset distributed with gtsam. The name
* may be specified with or without a file extension - if no extension is
@ -56,7 +55,6 @@ GTSAM_EXPORT std::string findExampleDataFile(const std::string& name);
* for checking read-write oprations
*/
GTSAM_EXPORT std::string createRewrittenFileName(const std::string& name);
#endif
/// Indicates how noise parameters are stored in file
enum NoiseFormat {