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update gtsam:: namespace in nonlinear.i

release/4.3a0
Varun Agrawal 2024-06-28 16:17:00 -04:00
parent 14ea7085e4
commit 2db6178d2e
1 changed files with 17 additions and 17 deletions
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34
gtsam/nonlinear/nonlinear.i
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@ -63,7 +63,7 @@ class NonlinearFactorGraph {
gtsam::KeyVector keyVector() const; gtsam::KeyVector keyVector() const;
template <T = {double, template <T = {double,
Vector, gtsam::Vector,
gtsam::Point2, gtsam::Point2,
gtsam::StereoPoint2, gtsam::StereoPoint2,
gtsam::Point3, gtsam::Point3,
@ -131,8 +131,8 @@ virtual class NoiseModelFactor : gtsam::NonlinearFactor {
bool equals(const gtsam::NoiseModelFactor& other, double tol) const; bool equals(const gtsam::NoiseModelFactor& other, double tol) const;
gtsam::noiseModel::Base* noiseModel() const; gtsam::noiseModel::Base* noiseModel() const;
gtsam::NoiseModelFactor* cloneWithNewNoiseModel(gtsam::noiseModel::Base* newNoise) const; gtsam::NoiseModelFactor* cloneWithNewNoiseModel(gtsam::noiseModel::Base* newNoise) const;
Vector unwhitenedError(const gtsam::Values& x) const; gtsam::Vector unwhitenedError(const gtsam::Values& x) const;
Vector whitenedError(const gtsam::Values& x) const; gtsam::Vector whitenedError(const gtsam::Values& x) const;
}; };
#include <gtsam/nonlinear/Marginals.h> #include <gtsam/nonlinear/Marginals.h>
@ -146,8 +146,8 @@ class Marginals {
void print(string s = "Marginals: ", const gtsam::KeyFormatter& keyFormatter = void print(string s = "Marginals: ", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
Matrix marginalCovariance(size_t variable) const; gtsam::Matrix marginalCovariance(size_t variable) const;
Matrix marginalInformation(size_t variable) const; gtsam::Matrix marginalInformation(size_t variable) const;
gtsam::JointMarginal jointMarginalCovariance( gtsam::JointMarginal jointMarginalCovariance(
const gtsam::KeyVector& variables) const; const gtsam::KeyVector& variables) const;
gtsam::JointMarginal jointMarginalInformation( gtsam::JointMarginal jointMarginalInformation(
@ -155,8 +155,8 @@ class Marginals {
}; };
class JointMarginal { class JointMarginal {
Matrix at(size_t iVariable, size_t jVariable) const; gtsam::Matrix at(size_t iVariable, size_t jVariable) const;
Matrix fullMatrix() const; gtsam::Matrix fullMatrix() const;
void print(string s = "", gtsam::KeyFormatter keyFormatter = void print(string s = "", gtsam::KeyFormatter keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
}; };
@ -368,10 +368,10 @@ virtual class GncOptimizer {
const gtsam::Values& initialValues, const gtsam::Values& initialValues,
const PARAMS& params); const PARAMS& params);
void setInlierCostThresholds(const double inth); void setInlierCostThresholds(const double inth);
const Vector& getInlierCostThresholds(); const gtsam::Vector& getInlierCostThresholds();
void setInlierCostThresholdsAtProbability(const double alpha); void setInlierCostThresholdsAtProbability(const double alpha);
void setWeights(const Vector w); void setWeights(const gtsam::Vector w);
const Vector& getWeights(); const gtsam::Vector& getWeights();
gtsam::Values optimize(); gtsam::Values optimize();
}; };
@ -417,7 +417,7 @@ class ISAM2DoglegParams {
}; };
class ISAM2ThresholdMapValue { class ISAM2ThresholdMapValue {
ISAM2ThresholdMapValue(char c, Vector thresholds); ISAM2ThresholdMapValue(char c, gtsam::Vector thresholds);
ISAM2ThresholdMapValue(const gtsam::ISAM2ThresholdMapValue& other); ISAM2ThresholdMapValue(const gtsam::ISAM2ThresholdMapValue& other);
}; };
@ -467,7 +467,7 @@ class ISAM2Clique {
ISAM2Clique(); ISAM2Clique();
// Standard Interface // Standard Interface
Vector gradientContribution() const; gtsam::Vector gradientContribution() const;
void print(string s = "", void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter); gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter);
}; };
@ -535,9 +535,9 @@ class ISAM2 {
gtsam::PinholeCamera<gtsam::Cal3_S2>, gtsam::PinholeCamera<gtsam::Cal3_S2>,
gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::PinholeCamera<gtsam::Cal3Bundler>,
gtsam::PinholeCamera<gtsam::Cal3Fisheye>, gtsam::PinholeCamera<gtsam::Cal3Fisheye>,
gtsam::PinholeCamera<gtsam::Cal3Unified>, Vector, Matrix}> gtsam::PinholeCamera<gtsam::Cal3Unified>, gtsam::Vector, gtsam::Matrix}>
VALUE calculateEstimate(size_t key) const; VALUE calculateEstimate(size_t key) const;
Matrix marginalCovariance(size_t key) const; gtsam::Matrix marginalCovariance(size_t key) const;
gtsam::Values calculateBestEstimate() const; gtsam::Values calculateBestEstimate() const;
gtsam::VectorValues getDelta() const; gtsam::VectorValues getDelta() const;
double error(const gtsam::VectorValues& x) const; double error(const gtsam::VectorValues& x) const;
@ -564,7 +564,7 @@ class NonlinearISAM {
void printStats() const; void printStats() const;
void saveGraph(string s) const; void saveGraph(string s) const;
gtsam::Values estimate() const; gtsam::Values estimate() const;
Matrix marginalCovariance(size_t key) const; gtsam::Matrix marginalCovariance(size_t key) const;
int reorderInterval() const; int reorderInterval() const;
int reorderCounter() const; int reorderCounter() const;
void update(const gtsam::NonlinearFactorGraph& newFactors, void update(const gtsam::NonlinearFactorGraph& newFactors,
@ -583,7 +583,7 @@ class NonlinearISAM {
//************************************************************************* //*************************************************************************
#include <gtsam/nonlinear/PriorFactor.h> #include <gtsam/nonlinear/PriorFactor.h>
template <T = {double, template <T = {double,
Vector, gtsam::Vector,
gtsam::Point2, gtsam::Point2,
gtsam::StereoPoint2, gtsam::StereoPoint2,
gtsam::Point3, gtsam::Point3,
@ -703,7 +703,7 @@ virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
gtsam::LevenbergMarquardtParams params() const; gtsam::LevenbergMarquardtParams params() const;
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3, template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
Vector, Matrix}> gtsam::Vector, gtsam::Matrix}>
VALUE calculateEstimate(size_t key) const; VALUE calculateEstimate(size_t key) const;
}; };