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Updated MATLAB wrapper gtsam.h for isam2 chain optimizations

release/4.3a0
Richard Roberts 2013-02-05 21:52:50 +00:00
parent 87f2755ec6
commit 305e71ba19
1 changed files with 3 additions and 22 deletions
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gtsam.h
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@ -1418,26 +1418,14 @@ class Ordering {
bool equals(const gtsam::Ordering& ord, double tol) const; bool equals(const gtsam::Ordering& ord, double tol) const;
// Standard interface // Standard interface
size_t nVars() const;
size_t size() const; size_t size() const;
size_t at(size_t key) const; size_t at(size_t key) const;
size_t key(size_t index) const;
bool exists(size_t key) const; bool exists(size_t key) const;
void insert(size_t key, size_t order); void insert(size_t key, size_t order);
void push_back(size_t key); void push_back(size_t key);
void permuteWithInverse(const gtsam::Permutation& inversePermutation); void permuteInPlace(const gtsam::Permutation& permutation);
gtsam::InvertedOrdering invert() const; void permuteInPlace(const gtsam::Permutation& selector, const gtsam::Permutation& permutation);
};
class InvertedOrdering {
InvertedOrdering();
// FIXME: add bracket operator overload
bool empty() const;
size_t size() const;
bool count(size_t index) const; // Use as a boolean function with implicit cast
void clear();
}; };
class NonlinearFactorGraph { class NonlinearFactorGraph {
@ -1605,12 +1593,9 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor {
LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Ordering& ordering, LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Ordering& ordering,
const gtsam::Values& linearizationPoint); const gtsam::Values& linearizationPoint);
LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Values& linearizationPoint); LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Values& linearizationPoint);
LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::InvertedOrdering& ordering,
const gtsam::Values& linearizationPoint);
LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Ordering& ordering); LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Ordering& ordering);
LinearContainerFactor(gtsam::GaussianFactor* factor); LinearContainerFactor(gtsam::GaussianFactor* factor);
LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::InvertedOrdering& ordering);
gtsam::GaussianFactor* factor() const; gtsam::GaussianFactor* factor() const;
// const boost::optional<Values>& linearizationPoint() const; // const boost::optional<Values>& linearizationPoint() const;
@ -1625,13 +1610,9 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor {
static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph,
const gtsam::Ordering& ordering, const gtsam::Values& linearizationPoint); const gtsam::Ordering& ordering, const gtsam::Values& linearizationPoint);
static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph,
const gtsam::InvertedOrdering& invOrdering, const gtsam::Values& linearizationPoint);
static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph,
const gtsam::Ordering& ordering); const gtsam::Ordering& ordering);
static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph,
const gtsam::InvertedOrdering& invOrdering);
}; // \class LinearContainerFactor }; // \class LinearContainerFactor