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Made functions virtual to allow for overriding

release/4.3a0
Alex Cunningham 2013-09-05 20:01:11 +00:00
parent 707b60aaf6
commit 2d554a7b77
1 changed files with 8 additions and 4 deletions
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12
gtsam/nonlinear/ISAM2.h
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@ -489,8 +489,11 @@ public:
/** Create an empty ISAM2 instance using the default set of parameters (see ISAM2Params) */ /** Create an empty ISAM2 instance using the default set of parameters (see ISAM2Params) */
ISAM2(); ISAM2();
/** default virtual destructor */
virtual ~ISAM2() {}
/** Compare equality */ /** Compare equality */
bool equals(const ISAM2& other, double tol = 1e-9) const; virtual bool equals(const ISAM2& other, double tol = 1e-9) const;
/** /**
* Add new factors, updating the solution and relinearizing as needed. * Add new factors, updating the solution and relinearizing as needed.
@ -520,7 +523,8 @@ public:
* of the size of the linear delta. This allows the provided keys to be reordered. * of the size of the linear delta. This allows the provided keys to be reordered.
* @return An ISAM2Result struct containing information about the update * @return An ISAM2Result struct containing information about the update
*/ */
ISAM2Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), const Values& newTheta = Values(), virtual ISAM2Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(),
const Values& newTheta = Values(),
const std::vector<size_t>& removeFactorIndices = std::vector<size_t>(), const std::vector<size_t>& removeFactorIndices = std::vector<size_t>(),
const boost::optional<FastMap<Key,int> >& constrainedKeys = boost::none, const boost::optional<FastMap<Key,int> >& constrainedKeys = boost::none,
const boost::optional<FastList<Key> >& noRelinKeys = boost::none, const boost::optional<FastList<Key> >& noRelinKeys = boost::none,
@ -622,13 +626,13 @@ public:
/// @} /// @}
private: protected:
FastSet<size_t> getAffectedFactors(const FastList<Key>& keys) const; FastSet<size_t> getAffectedFactors(const FastList<Key>& keys) const;
GaussianFactorGraph::shared_ptr relinearizeAffectedFactors(const FastList<Key>& affectedKeys, const FastSet<Key>& relinKeys) const; GaussianFactorGraph::shared_ptr relinearizeAffectedFactors(const FastList<Key>& affectedKeys, const FastSet<Key>& relinKeys) const;
GaussianFactorGraph getCachedBoundaryFactors(Cliques& orphans); GaussianFactorGraph getCachedBoundaryFactors(Cliques& orphans);
boost::shared_ptr<FastSet<Key> > recalculate(const FastSet<Key>& markedKeys, const FastSet<Key>& relinKeys, virtual boost::shared_ptr<FastSet<Key> > recalculate(const FastSet<Key>& markedKeys, const FastSet<Key>& relinKeys,
const std::vector<Key>& observedKeys, const FastSet<Key>& unusedIndices, const boost::optional<FastMap<Key,int> >& constrainKeys, ISAM2Result& result); const std::vector<Key>& observedKeys, const FastSet<Key>& unusedIndices, const boost::optional<FastMap<Key,int> >& constrainKeys, ISAM2Result& result);
// void linear_update(const GaussianFactorGraph& newFactors); // void linear_update(const GaussianFactorGraph& newFactors);
void updateDelta(bool forceFullSolve = false) const; void updateDelta(bool forceFullSolve = false) const;