12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

about a dozen changes to make Matlab toolbox work again, but one error remains having to do with the forward declaration of class GaussianBayesNet.

release/4.3a0
Chris Beall 2009-11-05 03:26:04 +00:00
parent 0ef7fe4a01
commit 3b258be8c4
1 changed files with 18 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
cpp/gtsam.h
View File

@ -17,19 +17,22 @@ class LinearFactorSet {
class LinearFactor { class LinearFactor {
LinearFactor(string key1, LinearFactor(string key1,
Matrix A1, Matrix A1,
Vector b_in); Vector b_in,
double sigma);
LinearFactor(string key1, LinearFactor(string key1,
Matrix A1, Matrix A1,
string key2, string key2,
Matrix A2, Matrix A2,
Vector b_in); Vector b_in,
double sigma);
LinearFactor(string key1, LinearFactor(string key1,
Matrix A1, Matrix A1,
string key2, string key2,
Matrix A2, Matrix A2,
string key3, string key3,
Matrix A3, Matrix A3,
Vector b_in); Vector b_in,
double sigma);
bool empty() const; bool empty() const;
Vector get_b() const; Vector get_b() const;
Matrix get_A(string key) const; Matrix get_A(string key) const;
@ -42,18 +45,24 @@ class LinearFactor {
class ConditionalGaussian { class ConditionalGaussian {
ConditionalGaussian(); ConditionalGaussian();
ConditionalGaussian(Vector d, ConditionalGaussian(string key,
Matrix R); Vector d,
ConditionalGaussian(Vector d, Matrix R,
Vector precisions);
ConditionalGaussian(string key,
Vector d,
Matrix R, Matrix R,
string name1, string name1,
Matrix S); Matrix S,
ConditionalGaussian(Vector d, Vector precisions);
ConditionalGaussian(string key,
Vector d,
Matrix R, Matrix R,
string name1, string name1,
Matrix S, Matrix S,
string name2, string name2,
Matrix T); Matrix T,
Vector precisions);
void print() const; void print() const;
Vector solve(const VectorConfig& x); Vector solve(const VectorConfig& x);
void add(string key, Matrix S); void add(string key, Matrix S);
@ -68,8 +77,6 @@ class Ordering {
class GaussianBayesNet { class GaussianBayesNet {
GaussianBayesNet(); GaussianBayesNet();
void insert(string name, ConditionalGaussian* node);
ConditionalGaussian* get(string name);
VectorConfig* optimize(); VectorConfig* optimize();
void print() const; void print() const;
bool equals(const GaussianBayesNet& cbn) const; bool equals(const GaussianBayesNet& cbn) const;
@ -87,8 +94,6 @@ class LinearFactorGraph {
bool equals(const LinearFactorGraph& lfgraph) const; bool equals(const LinearFactorGraph& lfgraph) const;
VectorConfig optimize(const Ordering& ordering); VectorConfig optimize(const Ordering& ordering);
LinearFactor* combine_factors(string key);
ConditionalGaussian* eliminate_one(string key);
GaussianBayesNet* eliminate(const Ordering& ordering); GaussianBayesNet* eliminate(const Ordering& ordering);
pair<Matrix,Vector> matrix(const Ordering& ordering) const; pair<Matrix,Vector> matrix(const Ordering& ordering) const;
}; };