expose iSAM2 parameter factorization enum

2022-01-29 23:06:53 +01:00 · 2022-01-29 23:06:53 +01:00 · 40d3badf1f
parent 65d72ab7a1
commit 40d3badf1f
1 changed files with 3 additions and 0 deletions
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@ -598,6 +598,9 @@ class ISAM2Params {
  bool enableDetailedResults;
  bool enablePartialRelinearizationCheck;
  bool findUnusedFactorSlots;
+
+  enum Factorization { CHOLESKY, QR };
+  Factorization factorization;
 };

 class ISAM2Clique {