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update gtsam.i print function declarations

release/4.3a0
Gerry Chen 2021-04-08 05:01:14 -04:00
parent 4222c88a7c
commit 36ab168558
1 changed files with 100 additions and 78 deletions
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gtsam/gtsam.i
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@ -47,7 +47,7 @@ class KeySet {
KeySet(const gtsam::KeyList& list); KeySet(const gtsam::KeyList& list);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::KeySet& other) const; bool equals(const gtsam::KeySet& other) const;
// common STL methods // common STL methods
@ -221,7 +221,7 @@ virtual class Value {
// No constructors because this is an abstract class // No constructors because this is an abstract class
// Testable // Testable
void print(string s) const; void print(string s = "") const;
// Manifold // Manifold
size_t dim() const; size_t dim() const;
@ -245,7 +245,7 @@ class Point2 {
Point2(Vector v); Point2(Vector v);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::Point2& point, double tol) const; bool equals(const gtsam::Point2& point, double tol) const;
// Group // Group
@ -298,7 +298,7 @@ class StereoPoint2 {
StereoPoint2(double uL, double uR, double v); StereoPoint2(double uL, double uR, double v);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::StereoPoint2& point, double tol) const; bool equals(const gtsam::StereoPoint2& point, double tol) const;
// Group // Group
@ -342,7 +342,7 @@ class Point3 {
Point3(Vector v); Point3(Vector v);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::Point3& p, double tol) const; bool equals(const gtsam::Point3& p, double tol) const;
// Group // Group
@ -379,7 +379,7 @@ class Rot2 {
static gtsam::Rot2 fromCosSin(double c, double s); static gtsam::Rot2 fromCosSin(double c, double s);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::Rot2& rot, double tol) const; bool equals(const gtsam::Rot2& rot, double tol) const;
// Group // Group
@ -430,7 +430,7 @@ class SO3 {
static gtsam::SO3 ClosestTo(const Matrix M); static gtsam::SO3 ClosestTo(const Matrix M);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::SO3& other, double tol) const; bool equals(const gtsam::SO3& other, double tol) const;
// Group // Group
@ -460,7 +460,7 @@ class SO4 {
static gtsam::SO4 FromMatrix(Matrix R); static gtsam::SO4 FromMatrix(Matrix R);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::SO4& other, double tol) const; bool equals(const gtsam::SO4& other, double tol) const;
// Group // Group
@ -490,7 +490,7 @@ class SOn {
static gtsam::SOn Lift(size_t n, Matrix R); static gtsam::SOn Lift(size_t n, Matrix R);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::SOn& other, double tol) const; bool equals(const gtsam::SOn& other, double tol) const;
// Group // Group
@ -551,7 +551,7 @@ class Rot3 {
static gtsam::Rot3 ClosestTo(const Matrix M); static gtsam::Rot3 ClosestTo(const Matrix M);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::Rot3& rot, double tol) const; bool equals(const gtsam::Rot3& rot, double tol) const;
// Group // Group
@ -608,7 +608,7 @@ class Pose2 {
Pose2(Vector v); Pose2(Vector v);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::Pose2& pose, double tol) const; bool equals(const gtsam::Pose2& pose, double tol) const;
// Group // Group
@ -668,7 +668,7 @@ class Pose3 {
Pose3(Matrix mat); Pose3(Matrix mat);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::Pose3& pose, double tol) const; bool equals(const gtsam::Pose3& pose, double tol) const;
// Group // Group
@ -744,7 +744,7 @@ class Unit3 {
Unit3(const gtsam::Point3& pose); Unit3(const gtsam::Point3& pose);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::Unit3& pose, double tol) const; bool equals(const gtsam::Unit3& pose, double tol) const;
// Other functionality // Other functionality
@ -774,7 +774,7 @@ class EssentialMatrix {
EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Unit3& aTb); EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Unit3& aTb);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::EssentialMatrix& pose, double tol) const; bool equals(const gtsam::EssentialMatrix& pose, double tol) const;
// Manifold // Manifold
@ -799,7 +799,7 @@ class Cal3_S2 {
Cal3_S2(double fov, int w, int h); Cal3_S2(double fov, int w, int h);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::Cal3_S2& rhs, double tol) const; bool equals(const gtsam::Cal3_S2& rhs, double tol) const;
// Manifold // Manifold
@ -836,7 +836,7 @@ virtual class Cal3DS2_Base {
Cal3DS2_Base(); Cal3DS2_Base();
// Testable // Testable
void print(string s) const; void print(string s = "") const;
// Standard Interface // Standard Interface
double fx() const; double fx() const;
@ -922,7 +922,7 @@ class Cal3_S2Stereo {
Cal3_S2Stereo(Vector v); Cal3_S2Stereo(Vector v);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::Cal3_S2Stereo& K, double tol) const; bool equals(const gtsam::Cal3_S2Stereo& K, double tol) const;
// Standard Interface // Standard Interface
@ -943,7 +943,7 @@ class Cal3Bundler {
Cal3Bundler(double fx, double k1, double k2, double u0, double v0, double tol); Cal3Bundler(double fx, double k1, double k2, double u0, double v0, double tol);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::Cal3Bundler& rhs, double tol) const; bool equals(const gtsam::Cal3Bundler& rhs, double tol) const;
// Manifold // Manifold
@ -983,7 +983,7 @@ class CalibratedCamera {
static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, double height); static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, double height);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::CalibratedCamera& camera, double tol) const; bool equals(const gtsam::CalibratedCamera& camera, double tol) const;
// Manifold // Manifold
@ -1022,7 +1022,7 @@ class PinholeCamera {
const gtsam::Point3& upVector, const CALIBRATION& K); const gtsam::Point3& upVector, const CALIBRATION& K);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const This& camera, double tol) const; bool equals(const This& camera, double tol) const;
// Standard Interface // Standard Interface
@ -1097,7 +1097,7 @@ class StereoCamera {
StereoCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2Stereo* K); StereoCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2Stereo* K);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::StereoCamera& camera, double tol) const; bool equals(const gtsam::StereoCamera& camera, double tol) const;
// Standard Interface // Standard Interface
@ -1160,7 +1160,8 @@ virtual class SymbolicFactor {
// From Factor // From Factor
size_t size() const; size_t size() const;
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::SymbolicFactor& other, double tol) const; bool equals(const gtsam::SymbolicFactor& other, double tol) const;
gtsam::KeyVector keys(); gtsam::KeyVector keys();
}; };
@ -1173,7 +1174,8 @@ virtual class SymbolicFactorGraph {
// From FactorGraph // From FactorGraph
void push_back(gtsam::SymbolicFactor* factor); void push_back(gtsam::SymbolicFactor* factor);
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const; bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const;
size_t size() const; size_t size() const;
bool exists(size_t idx) const; bool exists(size_t idx) const;
@ -1223,7 +1225,8 @@ virtual class SymbolicConditional : gtsam::SymbolicFactor {
static gtsam::SymbolicConditional FromKeys(const gtsam::KeyVector& keys, size_t nrFrontals); static gtsam::SymbolicConditional FromKeys(const gtsam::KeyVector& keys, size_t nrFrontals);
// Testable // Testable
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::SymbolicConditional& other, double tol) const; bool equals(const gtsam::SymbolicConditional& other, double tol) const;
// Standard interface // Standard interface
@ -1236,7 +1239,8 @@ class SymbolicBayesNet {
SymbolicBayesNet(); SymbolicBayesNet();
SymbolicBayesNet(const gtsam::SymbolicBayesNet& other); SymbolicBayesNet(const gtsam::SymbolicBayesNet& other);
// Testable // Testable
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::SymbolicBayesNet& other, double tol) const; bool equals(const gtsam::SymbolicBayesNet& other, double tol) const;
// Standard interface // Standard interface
@ -1257,7 +1261,8 @@ class SymbolicBayesTree {
SymbolicBayesTree(const gtsam::SymbolicBayesTree& other); SymbolicBayesTree(const gtsam::SymbolicBayesTree& other);
// Testable // Testable
void print(string s); void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter);
bool equals(const gtsam::SymbolicBayesTree& other, double tol) const; bool equals(const gtsam::SymbolicBayesTree& other, double tol) const;
//Standard Interface //Standard Interface
@ -1279,7 +1284,8 @@ class SymbolicBayesTree {
// SymbolicBayesTreeClique(const pair<typename ConditionalType::shared_ptr, typename ConditionalType::FactorType::shared_ptr>& result) : Base(result) {} // SymbolicBayesTreeClique(const pair<typename ConditionalType::shared_ptr, typename ConditionalType::FactorType::shared_ptr>& result) : Base(result) {}
// //
// bool equals(const This& other, double tol) const; // bool equals(const This& other, double tol) const;
// void print(string s) const; // void print(string s = "",
// gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
// void printTree() const; // Default indent of "" // void printTree() const; // Default indent of ""
// void printTree(string indent) const; // void printTree(string indent) const;
// size_t numCachedSeparatorMarginals() const; // size_t numCachedSeparatorMarginals() const;
@ -1313,7 +1319,8 @@ class VariableIndex {
// Testable // Testable
bool equals(const gtsam::VariableIndex& other, double tol) const; bool equals(const gtsam::VariableIndex& other, double tol) const;
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
// Standard interface // Standard interface
size_t size() const; size_t size() const;
@ -1328,7 +1335,7 @@ class VariableIndex {
namespace noiseModel { namespace noiseModel {
#include <gtsam/linear/NoiseModel.h> #include <gtsam/linear/NoiseModel.h>
virtual class Base { virtual class Base {
void print(string s) const; void print(string s = "") const;
// Methods below are available for all noise models. However, can't add them // Methods below are available for all noise models. However, can't add them
// because wrap (incorrectly) thinks robust classes derive from this Base as well. // because wrap (incorrectly) thinks robust classes derive from this Base as well.
// bool isConstrained() const; // bool isConstrained() const;
@ -1411,7 +1418,7 @@ virtual class Unit : gtsam::noiseModel::Isotropic {
namespace mEstimator { namespace mEstimator {
virtual class Base { virtual class Base {
void print(string s) const; void print(string s = "") const;
}; };
virtual class Null: gtsam::noiseModel::mEstimator::Base { virtual class Null: gtsam::noiseModel::mEstimator::Base {
@ -1551,7 +1558,8 @@ class VectorValues {
size_t size() const; size_t size() const;
size_t dim(size_t j) const; size_t dim(size_t j) const;
bool exists(size_t j) const; bool exists(size_t j) const;
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::VectorValues& expected, double tol) const; bool equals(const gtsam::VectorValues& expected, double tol) const;
void insert(size_t j, Vector value); void insert(size_t j, Vector value);
Vector vector() const; Vector vector() const;
@ -1582,7 +1590,8 @@ class VectorValues {
#include <gtsam/linear/GaussianFactor.h> #include <gtsam/linear/GaussianFactor.h>
virtual class GaussianFactor { virtual class GaussianFactor {
gtsam::KeyVector keys() const; gtsam::KeyVector keys() const;
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GaussianFactor& lf, double tol) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const;
double error(const gtsam::VectorValues& c) const; double error(const gtsam::VectorValues& c) const;
gtsam::GaussianFactor* clone() const; gtsam::GaussianFactor* clone() const;
@ -1610,7 +1619,8 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
JacobianFactor(const gtsam::GaussianFactorGraph& graph); JacobianFactor(const gtsam::GaussianFactorGraph& graph);
//Testable //Testable
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
void printKeys(string s) const; void printKeys(string s) const;
bool equals(const gtsam::GaussianFactor& lf, double tol) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const;
size_t size() const; size_t size() const;
@ -1659,7 +1669,8 @@ virtual class HessianFactor : gtsam::GaussianFactor {
//Testable //Testable
size_t size() const; size_t size() const;
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
void printKeys(string s) const; void printKeys(string s) const;
bool equals(const gtsam::GaussianFactor& lf, double tol) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const;
double error(const gtsam::VectorValues& c) const; double error(const gtsam::VectorValues& c) const;
@ -1684,7 +1695,8 @@ class GaussianFactorGraph {
GaussianFactorGraph(const gtsam::GaussianBayesTree& bayesTree); GaussianFactorGraph(const gtsam::GaussianBayesTree& bayesTree);
// From FactorGraph // From FactorGraph
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GaussianFactorGraph& lfgraph, double tol) const; bool equals(const gtsam::GaussianFactorGraph& lfgraph, double tol) const;
size_t size() const; size_t size() const;
gtsam::GaussianFactor* at(size_t idx) const; gtsam::GaussianFactor* at(size_t idx) const;
@ -1775,7 +1787,8 @@ virtual class GaussianConditional : gtsam::JacobianFactor {
size_t name2, Matrix T); size_t name2, Matrix T);
//Standard Interface //Standard Interface
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GaussianConditional &cg, double tol) const; bool equals(const gtsam::GaussianConditional &cg, double tol) const;
//Advanced Interface //Advanced Interface
@ -1797,7 +1810,8 @@ virtual class GaussianDensity : gtsam::GaussianConditional {
GaussianDensity(size_t key, Vector d, Matrix R, const gtsam::noiseModel::Diagonal* sigmas); GaussianDensity(size_t key, Vector d, Matrix R, const gtsam::noiseModel::Diagonal* sigmas);
//Standard Interface //Standard Interface
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GaussianDensity &cg, double tol) const; bool equals(const gtsam::GaussianDensity &cg, double tol) const;
Vector mean() const; Vector mean() const;
Matrix covariance() const; Matrix covariance() const;
@ -1810,7 +1824,8 @@ virtual class GaussianBayesNet {
GaussianBayesNet(const gtsam::GaussianConditional* conditional); GaussianBayesNet(const gtsam::GaussianConditional* conditional);
// Testable // Testable
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GaussianBayesNet& other, double tol) const; bool equals(const gtsam::GaussianBayesNet& other, double tol) const;
size_t size() const; size_t size() const;
@ -1845,7 +1860,8 @@ virtual class GaussianBayesTree {
GaussianBayesTree(); GaussianBayesTree();
GaussianBayesTree(const gtsam::GaussianBayesTree& other); GaussianBayesTree(const gtsam::GaussianBayesTree& other);
bool equals(const gtsam::GaussianBayesTree& other, double tol) const; bool equals(const gtsam::GaussianBayesTree& other, double tol) const;
void print(string s); void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter);
size_t size() const; size_t size() const;
bool empty() const; bool empty() const;
size_t numCachedSeparatorMarginals() const; size_t numCachedSeparatorMarginals() const;
@ -1871,7 +1887,7 @@ class Errors {
Errors(const gtsam::VectorValues& V); Errors(const gtsam::VectorValues& V);
//Testable //Testable
void print(string s); void print(string s = "Errors");
bool equals(const gtsam::Errors& expected, double tol) const; bool equals(const gtsam::Errors& expected, double tol) const;
}; };
@ -1890,7 +1906,6 @@ class GaussianISAM {
virtual class IterativeOptimizationParameters { virtual class IterativeOptimizationParameters {
string getVerbosity() const; string getVerbosity() const;
void setVerbosity(string s) ; void setVerbosity(string s) ;
void print() const;
}; };
//virtual class IterativeSolver { //virtual class IterativeSolver {
@ -1912,7 +1927,6 @@ virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParamete
void setReset(int value); void setReset(int value);
void setEpsilon_rel(double value); void setEpsilon_rel(double value);
void setEpsilon_abs(double value); void setEpsilon_abs(double value);
void print() const;
}; };
#include <gtsam/linear/Preconditioner.h> #include <gtsam/linear/Preconditioner.h>
@ -1927,14 +1941,13 @@ virtual class DummyPreconditionerParameters : gtsam::PreconditionerParameters {
#include <gtsam/linear/PCGSolver.h> #include <gtsam/linear/PCGSolver.h>
virtual class PCGSolverParameters : gtsam::ConjugateGradientParameters { virtual class PCGSolverParameters : gtsam::ConjugateGradientParameters {
PCGSolverParameters(); PCGSolverParameters();
void print(string s); void print(string s = "");
void setPreconditionerParams(gtsam::PreconditionerParameters* preconditioner); void setPreconditionerParams(gtsam::PreconditionerParameters* preconditioner);
}; };
#include <gtsam/linear/SubgraphSolver.h> #include <gtsam/linear/SubgraphSolver.h>
virtual class SubgraphSolverParameters : gtsam::ConjugateGradientParameters { virtual class SubgraphSolverParameters : gtsam::ConjugateGradientParameters {
SubgraphSolverParameters(); SubgraphSolverParameters();
void print() const;
}; };
virtual class SubgraphSolver { virtual class SubgraphSolver {
@ -1948,7 +1961,7 @@ class KalmanFilter {
KalmanFilter(size_t n); KalmanFilter(size_t n);
// gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0); // gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0);
gtsam::GaussianDensity* init(Vector x0, Matrix P0); gtsam::GaussianDensity* init(Vector x0, Matrix P0);
void print(string s) const; void print(string s = "") const;
static size_t step(gtsam::GaussianDensity* p); static size_t step(gtsam::GaussianDensity* p);
gtsam::GaussianDensity* predict(gtsam::GaussianDensity* p, Matrix F, gtsam::GaussianDensity* predict(gtsam::GaussianDensity* p, Matrix F,
Matrix B, Vector u, const gtsam::noiseModel::Diagonal* modelQ); Matrix B, Vector u, const gtsam::noiseModel::Diagonal* modelQ);
@ -1974,7 +1987,7 @@ class Symbol {
Symbol(size_t key); Symbol(size_t key);
size_t key() const; size_t key() const;
void print(const string& s) const; void print(const string& s = "") const;
bool equals(const gtsam::Symbol& expected, double tol) const; bool equals(const gtsam::Symbol& expected, double tol) const;
char chr() const; char chr() const;
@ -2039,7 +2052,7 @@ class LabeledSymbol {
gtsam::LabeledSymbol newChr(unsigned char c) const; gtsam::LabeledSymbol newChr(unsigned char c) const;
gtsam::LabeledSymbol newLabel(unsigned char label) const; gtsam::LabeledSymbol newLabel(unsigned char label) const;
void print(string s) const; void print(string s = "") const;
}; };
size_t mrsymbol(unsigned char c, unsigned char label, size_t j); size_t mrsymbol(unsigned char c, unsigned char label, size_t j);
@ -2054,7 +2067,8 @@ class Ordering {
Ordering(const gtsam::Ordering& other); Ordering(const gtsam::Ordering& other);
// Testable // Testable
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::Ordering& ord, double tol) const; bool equals(const gtsam::Ordering& ord, double tol) const;
// Standard interface // Standard interface
@ -2075,7 +2089,8 @@ class NonlinearFactorGraph {
NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph); NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph);
// FactorGraph // FactorGraph
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const; bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const;
size_t size() const; size_t size() const;
bool empty() const; bool empty() const;
@ -2123,7 +2138,8 @@ virtual class NonlinearFactor {
// Factor base class // Factor base class
size_t size() const; size_t size() const;
gtsam::KeyVector keys() const; gtsam::KeyVector keys() const;
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
void printKeys(string s) const; void printKeys(string s) const;
// NonlinearFactor // NonlinearFactor
bool equals(const gtsam::NonlinearFactor& other, double tol) const; bool equals(const gtsam::NonlinearFactor& other, double tol) const;
@ -2153,7 +2169,8 @@ class Values {
void clear(); void clear();
size_t dim() const; size_t dim() const;
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::Values& other, double tol) const; bool equals(const gtsam::Values& other, double tol) const;
void insert(const gtsam::Values& values); void insert(const gtsam::Values& values);
@ -2242,7 +2259,8 @@ class Marginals {
Marginals(const gtsam::GaussianFactorGraph& gfgraph, Marginals(const gtsam::GaussianFactorGraph& gfgraph,
const gtsam::VectorValues& solutionvec); const gtsam::VectorValues& solutionvec);
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
Matrix marginalCovariance(size_t variable) const; Matrix marginalCovariance(size_t variable) const;
Matrix marginalInformation(size_t variable) const; Matrix marginalInformation(size_t variable) const;
gtsam::JointMarginal jointMarginalCovariance(const gtsam::KeyVector& variables) const; gtsam::JointMarginal jointMarginalCovariance(const gtsam::KeyVector& variables) const;
@ -2252,8 +2270,8 @@ class Marginals {
class JointMarginal { class JointMarginal {
Matrix at(size_t iVariable, size_t jVariable) const; Matrix at(size_t iVariable, size_t jVariable) const;
Matrix fullMatrix() const; Matrix fullMatrix() const;
void print(string s) const; void print(string s = "",
void print() const; gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
}; };
#include <gtsam/nonlinear/LinearContainerFactor.h> #include <gtsam/nonlinear/LinearContainerFactor.h>
@ -2296,7 +2314,7 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor {
#include <gtsam/nonlinear/NonlinearOptimizerParams.h> #include <gtsam/nonlinear/NonlinearOptimizerParams.h>
virtual class NonlinearOptimizerParams { virtual class NonlinearOptimizerParams {
NonlinearOptimizerParams(); NonlinearOptimizerParams();
void print(string s) const; void print(string s = "") const;
int getMaxIterations() const; int getMaxIterations() const;
double getRelativeErrorTol() const; double getRelativeErrorTol() const;
@ -2407,14 +2425,14 @@ virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer {
LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues); LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues);
LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::LevenbergMarquardtParams& params); LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::LevenbergMarquardtParams& params);
double lambda() const; double lambda() const;
void print(string str) const; void print(string s = "") const;
}; };
#include <gtsam/nonlinear/ISAM2.h> #include <gtsam/nonlinear/ISAM2.h>
class ISAM2GaussNewtonParams { class ISAM2GaussNewtonParams {
ISAM2GaussNewtonParams(); ISAM2GaussNewtonParams();
void print(string str) const; void print(string s = "") const;
/** Getters and Setters for all properties */ /** Getters and Setters for all properties */
double getWildfireThreshold() const; double getWildfireThreshold() const;
@ -2424,7 +2442,7 @@ class ISAM2GaussNewtonParams {
class ISAM2DoglegParams { class ISAM2DoglegParams {
ISAM2DoglegParams(); ISAM2DoglegParams();
void print(string str) const; void print(string s = "") const;
/** Getters and Setters for all properties */ /** Getters and Setters for all properties */
double getWildfireThreshold() const; double getWildfireThreshold() const;
@ -2460,7 +2478,7 @@ class ISAM2ThresholdMap {
class ISAM2Params { class ISAM2Params {
ISAM2Params(); ISAM2Params();
void print(string str) const; void print(string s = "") const;
/** Getters and Setters for all properties */ /** Getters and Setters for all properties */
void setOptimizationParams(const gtsam::ISAM2GaussNewtonParams& gauss_newton__params); void setOptimizationParams(const gtsam::ISAM2GaussNewtonParams& gauss_newton__params);
@ -2490,13 +2508,14 @@ class ISAM2Clique {
//Standard Interface //Standard Interface
Vector gradientContribution() const; Vector gradientContribution() const;
void print(string s); void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter);
}; };
class ISAM2Result { class ISAM2Result {
ISAM2Result(); ISAM2Result();
void print(string str) const; void print(string s = "") const;
/** Getters and Setters for all properties */ /** Getters and Setters for all properties */
size_t getVariablesRelinearized() const; size_t getVariablesRelinearized() const;
@ -2512,7 +2531,7 @@ class ISAM2 {
ISAM2(const gtsam::ISAM2& other); ISAM2(const gtsam::ISAM2& other);
bool equals(const gtsam::ISAM2& other, double tol) const; bool equals(const gtsam::ISAM2& other, double tol) const;
void print(string s) const; void print(string s = "") const;
void printStats() const; void printStats() const;
void saveGraph(string s) const; void saveGraph(string s) const;
@ -2544,7 +2563,8 @@ class ISAM2 {
class NonlinearISAM { class NonlinearISAM {
NonlinearISAM(); NonlinearISAM();
NonlinearISAM(int reorderInterval); NonlinearISAM(int reorderInterval);
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
void printStats() const; void printStats() const;
void saveGraph(string s) const; void saveGraph(string s) const;
gtsam::Values estimate() const; gtsam::Values estimate() const;
@ -2682,7 +2702,7 @@ class BearingRange {
static This Measure(const POSE& pose, const POINT& point); static This Measure(const POSE& pose, const POINT& point);
static BEARING MeasureBearing(const POSE& pose, const POINT& point); static BEARING MeasureBearing(const POSE& pose, const POINT& point);
static RANGE MeasureRange(const POSE& pose, const POINT& point); static RANGE MeasureRange(const POSE& pose, const POINT& point);
void print(string s) const; void print(string s = "") const;
}; };
typedef gtsam::BearingRange<gtsam::Pose2, gtsam::Point2, gtsam::Rot2, double> BearingRange2D; typedef gtsam::BearingRange<gtsam::Pose2, gtsam::Point2, gtsam::Rot2, double> BearingRange2D;
@ -3019,7 +3039,6 @@ class ShonanAveragingParameters2 {
bool getUseHuber() const; bool getUseHuber() const;
void setCertifyOptimality(bool value); void setCertifyOptimality(bool value);
bool getCertifyOptimality() const; bool getCertifyOptimality() const;
void print() const;
}; };
class ShonanAveragingParameters3 { class ShonanAveragingParameters3 {
@ -3040,7 +3059,6 @@ class ShonanAveragingParameters3 {
bool getUseHuber() const; bool getUseHuber() const;
void setCertifyOptimality(bool value); void setCertifyOptimality(bool value);
bool getCertifyOptimality() const; bool getCertifyOptimality() const;
void print() const;
}; };
class ShonanAveraging2 { class ShonanAveraging2 {
@ -3170,7 +3188,7 @@ class ConstantBias {
ConstantBias(Vector biasAcc, Vector biasGyro); ConstantBias(Vector biasAcc, Vector biasGyro);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::imuBias::ConstantBias& expected, double tol) const; bool equals(const gtsam::imuBias::ConstantBias& expected, double tol) const;
// Group // Group
@ -3210,7 +3228,7 @@ class NavState {
NavState(const gtsam::Pose3& pose, Vector v); NavState(const gtsam::Pose3& pose, Vector v);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::NavState& expected, double tol) const; bool equals(const gtsam::NavState& expected, double tol) const;
// Access // Access
@ -3228,7 +3246,7 @@ virtual class PreintegratedRotationParams {
PreintegratedRotationParams(); PreintegratedRotationParams();
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::PreintegratedRotationParams& expected, double tol); bool equals(const gtsam::PreintegratedRotationParams& expected, double tol);
void setGyroscopeCovariance(Matrix cov); void setGyroscopeCovariance(Matrix cov);
@ -3251,7 +3269,7 @@ virtual class PreintegrationParams : gtsam::PreintegratedRotationParams {
static gtsam::PreintegrationParams* MakeSharedU(); // default g = 9.81 static gtsam::PreintegrationParams* MakeSharedU(); // default g = 9.81
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::PreintegrationParams& expected, double tol); bool equals(const gtsam::PreintegrationParams& expected, double tol);
void setAccelerometerCovariance(Matrix cov); void setAccelerometerCovariance(Matrix cov);
@ -3271,7 +3289,7 @@ class PreintegratedImuMeasurements {
const gtsam::imuBias::ConstantBias& bias); const gtsam::imuBias::ConstantBias& bias);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol); bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol);
// Standard Interface // Standard Interface
@ -3314,7 +3332,7 @@ virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams {
static gtsam::PreintegrationCombinedParams* MakeSharedU(); // default g = 9.81 static gtsam::PreintegrationCombinedParams* MakeSharedU(); // default g = 9.81
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::PreintegrationCombinedParams& expected, double tol); bool equals(const gtsam::PreintegrationCombinedParams& expected, double tol);
void setBiasAccCovariance(Matrix cov); void setBiasAccCovariance(Matrix cov);
@ -3333,7 +3351,7 @@ class PreintegratedCombinedMeasurements {
PreintegratedCombinedMeasurements(const gtsam::PreintegrationCombinedParams* params, PreintegratedCombinedMeasurements(const gtsam::PreintegrationCombinedParams* params,
const gtsam::imuBias::ConstantBias& bias); const gtsam::imuBias::ConstantBias& bias);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::PreintegratedCombinedMeasurements& expected, bool equals(const gtsam::PreintegratedCombinedMeasurements& expected,
double tol); double tol);
@ -3374,7 +3392,7 @@ class PreintegratedAhrsMeasurements {
PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs); PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs);
// Testable // Testable
void print(string s) const; void print(string s = "") const;
bool equals(const gtsam::PreintegratedAhrsMeasurements& expected, double tol); bool equals(const gtsam::PreintegratedAhrsMeasurements& expected, double tol);
// get Data // get Data
@ -3413,7 +3431,8 @@ virtual class Rot3AttitudeFactor : gtsam::NonlinearFactor{
const gtsam::Unit3& bRef); const gtsam::Unit3& bRef);
Rot3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model); Rot3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model);
Rot3AttitudeFactor(); Rot3AttitudeFactor();
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::NonlinearFactor& expected, double tol) const; bool equals(const gtsam::NonlinearFactor& expected, double tol) const;
gtsam::Unit3 nZ() const; gtsam::Unit3 nZ() const;
gtsam::Unit3 bRef() const; gtsam::Unit3 bRef() const;
@ -3426,7 +3445,8 @@ virtual class Pose3AttitudeFactor : gtsam::NonlinearFactor {
Pose3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, Pose3AttitudeFactor(size_t key, const gtsam::Unit3& nZ,
const gtsam::noiseModel::Diagonal* model); const gtsam::noiseModel::Diagonal* model);
Pose3AttitudeFactor(); Pose3AttitudeFactor();
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::NonlinearFactor& expected, double tol) const; bool equals(const gtsam::NonlinearFactor& expected, double tol) const;
gtsam::Unit3 nZ() const; gtsam::Unit3 nZ() const;
gtsam::Unit3 bRef() const; gtsam::Unit3 bRef() const;
@ -3438,7 +3458,8 @@ virtual class GPSFactor : gtsam::NonlinearFactor{
const gtsam::noiseModel::Base* model); const gtsam::noiseModel::Base* model);
// Testable // Testable
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GPSFactor& expected, double tol); bool equals(const gtsam::GPSFactor& expected, double tol);
// Standard Interface // Standard Interface
@ -3450,7 +3471,8 @@ virtual class GPSFactor2 : gtsam::NonlinearFactor {
const gtsam::noiseModel::Base* model); const gtsam::noiseModel::Base* model);
// Testable // Testable
void print(string s) const; void print(string s = "",
gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GPSFactor2& expected, double tol); bool equals(const gtsam::GPSFactor2& expected, double tol);
// Standard Interface // Standard Interface