Fixed python wrapper

gtsam/nonlinear/nonlinear.i

@@ -650,4 +650,65 @@ virtual class NonlinearEquality2 : gtsam::NoiseModelFactor {
   gtsam::Vector evaluateError(const T& x1, const T& x2);
 };
 
+#include <gtsam/nonlinear/FixedLagSmoother.h>
+class FixedLagSmootherKeyTimestampMapValue {
+  FixedLagSmootherKeyTimestampMapValue(size_t key, double timestamp);
+  FixedLagSmootherKeyTimestampMapValue(const gtsam::FixedLagSmootherKeyTimestampMapValue& other);
+};
+
+class FixedLagSmootherKeyTimestampMap {
+  FixedLagSmootherKeyTimestampMap();
+  FixedLagSmootherKeyTimestampMap(const gtsam::FixedLagSmootherKeyTimestampMap& other);
+
+  // Note: no print function
+
+  // common STL methods
+  size_t size() const;
+  bool empty() const;
+  void clear();
+
+  double at(const size_t key) const;
+  void insert(const gtsam::FixedLagSmootherKeyTimestampMapValue& value);
+};
+
+class FixedLagSmootherResult {
+  size_t getIterations() const;
+  size_t getNonlinearVariables() const;
+  size_t getLinearVariables() const;
+  double getError() const;
+};
+
+virtual class FixedLagSmoother {
+  void print(string s) const;
+  bool equals(const gtsam::FixedLagSmoother& rhs, double tol) const;
+
+  gtsam::FixedLagSmootherKeyTimestampMap timestamps() const;
+  double smootherLag() const;
+
+  gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph &newFactors,
+                                       const gtsam::Values &newTheta,
+                                       const gtsam::FixedLagSmootherKeyTimestampMap &timestamps);
+  gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph &newFactors,
+                                       const gtsam::Values &newTheta,
+                                       const gtsam::FixedLagSmootherKeyTimestampMap &timestamps,
+                                       const gtsam::FactorIndices &factorsToRemove);
+  gtsam::Values calculateEstimate() const;
+};
+
+#include <gtsam/nonlinear/BatchFixedLagSmoother.h>
+virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
+  BatchFixedLagSmoother();
+  BatchFixedLagSmoother(double smootherLag);
+  BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& params);
+
+  void print(string s = "BatchFixedLagSmoother:\n") const;
+
+  gtsam::LevenbergMarquardtParams params() const;
+  template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
+                     gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
+                     Vector, Matrix}>
+  VALUE calculateEstimate(size_t key) const;
+};
+
+
 }  // namespace gtsam

gtsam_unstable/gtsam_unstable.i

@@ -40,6 +40,7 @@ class gtsam::LevenbergMarquardtParams;
 class gtsam::ISAM2Params;
 class gtsam::GaussianDensity;
 class gtsam::LevenbergMarquardtOptimizer;
+class gtsam::FixedLagSmoother;
 
 namespace gtsam {
 
@@ -530,67 +531,7 @@ virtual class DiscreteEulerPoincareHelicopter : gtsam::NoiseModelFactor {
 //*************************************************************************
 // nonlinear
 //*************************************************************************
-#include <gtsam_unstable/nonlinear/FixedLagSmoother.h>
+#include <gtsam/nonlinear/FixedLagSmoother.h>
-class FixedLagSmootherKeyTimestampMapValue {
-  FixedLagSmootherKeyTimestampMapValue(size_t key, double timestamp);
-  FixedLagSmootherKeyTimestampMapValue(const gtsam::FixedLagSmootherKeyTimestampMapValue& other);
-};
-
-class FixedLagSmootherKeyTimestampMap {
-  FixedLagSmootherKeyTimestampMap();
-  FixedLagSmootherKeyTimestampMap(const gtsam::FixedLagSmootherKeyTimestampMap& other);
-
-  // Note: no print function
-
-  // common STL methods
-  size_t size() const;
-  bool empty() const;
-  void clear();
-
-  double at(const size_t key) const;
-  void insert(const gtsam::FixedLagSmootherKeyTimestampMapValue& value);
-};
-
-class FixedLagSmootherResult {
-  size_t getIterations() const;
-  size_t getNonlinearVariables() const;
-  size_t getLinearVariables() const;
-  double getError() const;
-};
-
-#include <gtsam_unstable/nonlinear/FixedLagSmoother.h>
-virtual class FixedLagSmoother {
-  void print(string s) const;
-  bool equals(const gtsam::FixedLagSmoother& rhs, double tol) const;
-
-  gtsam::FixedLagSmootherKeyTimestampMap timestamps() const;
-  double smootherLag() const;
-
-  gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph &newFactors,
-                                       const gtsam::Values &newTheta,
-                                       const gtsam::FixedLagSmootherKeyTimestampMap &timestamps);
-  gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph &newFactors,
-                                       const gtsam::Values &newTheta,
-                                       const gtsam::FixedLagSmootherKeyTimestampMap &timestamps,
-                                       const gtsam::FactorIndices &factorsToRemove);
-  gtsam::Values calculateEstimate() const;
-};
-
-#include <gtsam_unstable/nonlinear/BatchFixedLagSmoother.h>
-virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
-  BatchFixedLagSmoother();
-  BatchFixedLagSmoother(double smootherLag);
-  BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& params);
-
-  void print(string s = "BatchFixedLagSmoother:\n") const;
-
-  gtsam::LevenbergMarquardtParams params() const;
-  template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
-                     gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
-                     Vector, Matrix}>
-  VALUE calculateEstimate(size_t key) const;
-};
-
 #include <gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h>
 virtual class IncrementalFixedLagSmoother : gtsam::FixedLagSmoother {
   IncrementalFixedLagSmoother();

python/CMakeLists.txt

@@ -40,6 +40,7 @@ set(ignore
     gtsam::IndexPairVector
     gtsam::BetweenFactorPose2s
     gtsam::BetweenFactorPose3s
+    gtsam::FixedLagSmootherKeyTimestampMapValue
     gtsam::Point2Vector
     gtsam::Point2Pairs
     gtsam::Point3Pairs
@@ -144,7 +145,6 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
             gtsam::Point2Vector
             gtsam::Pose3Vector
             gtsam::KeyVector
-            gtsam::FixedLagSmootherKeyTimestampMapValue
             gtsam::BinaryMeasurementsPoint3
             gtsam::BinaryMeasurementsUnit3
             gtsam::BinaryMeasurementsRot3

python/gtsam/examples/FixedLagSmootherExample.py

@@ -25,13 +25,13 @@ def BatchFixedLagSmootherExample():
     # Define a batch fixed lag smoother, which uses
     # Levenberg-Marquardt to perform the nonlinear optimization
     lag = 2.0
-    smoother_batch = gtsam_unstable.BatchFixedLagSmoother(lag)
+    smoother_batch = gtsam.BatchFixedLagSmoother(lag)
 
     # Create containers to store the factors and linearization points
     # that will be sent to the smoothers
     new_factors = gtsam.NonlinearFactorGraph()
     new_values = gtsam.Values()
-    new_timestamps = gtsam_unstable.FixedLagSmootherKeyTimestampMap()
+    new_timestamps = gtsam.FixedLagSmootherKeyTimestampMap()
 
     # Create  a prior on the first pose, placing it at the origin
     prior_mean = gtsam.Pose2(0, 0, 0)

python/gtsam/tests/test_FixedLagSmootherExample.py

@@ -30,13 +30,13 @@ class TestFixedLagSmootherExample(GtsamTestCase):
         # Define a batch fixed lag smoother, which uses
         # Levenberg-Marquardt to perform the nonlinear optimization
         lag = 2.0
-        smoother_batch = gtsam_unstable.BatchFixedLagSmoother(lag)
+        smoother_batch = gtsam.BatchFixedLagSmoother(lag)
 
         # Create containers to store the factors and linearization points
         # that will be sent to the smoothers
         new_factors = gtsam.NonlinearFactorGraph()
         new_values = gtsam.Values()
-        new_timestamps = gtsam_unstable.FixedLagSmootherKeyTimestampMap()
+        new_timestamps = gtsam.FixedLagSmootherKeyTimestampMap()
 
         # Create  a prior on the first pose, placing it at the origin
         prior_mean = gtsam.Pose2(0, 0, 0)