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Merge branch 'borglab:develop' into python-helpers

release/4.3a0
Easton Potokar 2024-06-03 14:57:46 -06:00 committed by GitHub
parent d7e2e1cdf6 50021ed6d5
commit 32e8a43696
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GPG Key ID: B5690EEEBB952194
3 changed files with 23 additions and 2 deletions
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2
.github/workflows/build-python.yml vendored
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@ -109,7 +109,7 @@ jobs:
uses: ilammy/msvc-dev-cmd@v1
with:
arch: x${{matrix.platform}}
toolset: 14.38
toolset: 14.2
- name: cl version (Windows)
if: runner.os == 'Windows'

2
.github/workflows/build-windows.yml vendored
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@ -50,7 +50,7 @@ jobs:
uses: ilammy/msvc-dev-cmd@v1
with:
arch: x${{ matrix.platform }}
toolset: 14.38
toolset: 14.2
- name: cl version
shell: cmd

21
gtsam/linear/linear.i
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@ -128,6 +128,7 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base {
virtual class Cauchy: gtsam::noiseModel::mEstimator::Base {
Cauchy(double k);
Cauchy(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::Cauchy* Create(double k);
// enabling serialization functionality
@ -139,6 +140,7 @@ virtual class Cauchy: gtsam::noiseModel::mEstimator::Base {
virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
Tukey(double k);
Tukey(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::Tukey* Create(double k);
// enabling serialization functionality
@ -150,6 +152,7 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
virtual class Welsch: gtsam::noiseModel::mEstimator::Base {
Welsch(double k);
Welsch(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::Welsch* Create(double k);
// enabling serialization functionality
@ -161,6 +164,7 @@ virtual class Welsch: gtsam::noiseModel::mEstimator::Base {
virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base {
GemanMcClure(double c);
GemanMcClure(double c, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::GemanMcClure* Create(double c);
// enabling serialization functionality
@ -172,6 +176,7 @@ virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base {
virtual class DCS: gtsam::noiseModel::mEstimator::Base {
DCS(double c);
DCS(double c, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::DCS* Create(double c);
// enabling serialization functionality
@ -183,6 +188,7 @@ virtual class DCS: gtsam::noiseModel::mEstimator::Base {
virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base {
L2WithDeadZone(double k);
L2WithDeadZone(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::L2WithDeadZone* Create(double k);
// enabling serialization functionality
@ -193,6 +199,7 @@ virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base {
};
virtual class AsymmetricTukey: gtsam::noiseModel::mEstimator::Base {
AsymmetricTukey(double k);
AsymmetricTukey(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::AsymmetricTukey* Create(double k);
@ -203,6 +210,18 @@ virtual class AsymmetricTukey: gtsam::noiseModel::mEstimator::Base {
double loss(double error) const;
};
virtual class AsymmetricCauchy: gtsam::noiseModel::mEstimator::Base {
AsymmetricCauchy(double k);
AsymmetricCauchy(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::AsymmetricCauchy* Create(double k);
// enabling serialization functionality
void serializable() const;
double weight(double error) const;
double loss(double error) const;
};
virtual class Custom: gtsam::noiseModel::mEstimator::Base {
Custom(gtsam::noiseModel::mEstimator::CustomWeightFunction weight,
gtsam::noiseModel::mEstimator::CustomLossFunction loss,
@ -356,6 +375,8 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
void serialize() const;
};
pair<gtsam::GaussianConditional, gtsam::JacobianFactor*> EliminateQR(const gtsam::GaussianFactorGraph& factors, const gtsam::Ordering& keys);
#include <gtsam/linear/HessianFactor.h>
virtual class HessianFactor : gtsam::GaussianFactor {
//Constructors