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

Derive factors from gtsam::Factor

release/4.3a0
Frank Dellaert 2023-06-04 22:38:56 +01:00
parent e1802814ca
commit 40e5a1a6ab
6 changed files with 21 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
gtsam/discrete/discrete.i
View File

@ -31,13 +31,11 @@ string html(const gtsam::DiscreteValues& values,
std::map<gtsam::Key, std::vector<std::string>> names);
#include <gtsam/discrete/DiscreteFactor.h>
class DiscreteFactor {
virtual class DiscreteFactor : gtsam::Factor {
void print(string s = "DiscreteFactor\n",
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::DiscreteFactor& other, double tol = 1e-9) const;
bool empty() const;
size_t size() const;
double operator()(const gtsam::DiscreteValues& values) const;
};
@ -225,6 +223,8 @@ class DiscreteBayesTree {
bool empty() const;
const DiscreteBayesTreeClique* operator[](size_t j) const;
double evaluate(const gtsam::DiscreteValues& values) const;
string dot(const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
void saveGraph(string s,

5
gtsam/hybrid/hybrid.i
View File

@ -35,14 +35,11 @@ class HybridValues {
};
#include <gtsam/hybrid/HybridFactor.h>
virtual class HybridFactor {
virtual class HybridFactor : gtsam::Factor {
void print(string s = "HybridFactor\n",
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::HybridFactor& other, double tol = 1e-9) const;
bool empty() const;
size_t size() const;
gtsam::KeyVector keys() const;
// Standard interface:
double error(const gtsam::HybridValues &values) const;

11
gtsam/inference/inference.i
View File

@ -197,4 +197,15 @@ class VariableIndex {
size_t nEntries() const;
};
#include <gtsam/inference/Factor.h>
virtual class Factor {
void print(string s = "Factor\n", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
void printKeys(string s = "") const;
bool equals(const gtsam::Factor& other, double tol = 1e-9) const;
bool empty() const;
size_t size() const;
gtsam::KeyVector keys() const;
};
} // namespace gtsam

10
gtsam/linear/linear.i
View File

@ -261,8 +261,7 @@ class VectorValues {
};
#include <gtsam/linear/GaussianFactor.h>
virtual class GaussianFactor {
gtsam::KeyVector keys() const;
virtual class GaussianFactor : gtsam::Factor {
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GaussianFactor& lf, double tol) const;
@ -273,8 +272,6 @@ virtual class GaussianFactor {
Matrix information() const;
Matrix augmentedJacobian() const;
pair<Matrix, Vector> jacobian() const;
size_t size() const;
bool empty() const;
};
#include <gtsam/linear/JacobianFactor.h>
@ -301,10 +298,7 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
//Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
void printKeys(string s) const;
gtsam::KeyVector& keys() const;
bool equals(const gtsam::GaussianFactor& lf, double tol) const;
size_t size() const;
Vector unweighted_error(const gtsam::VectorValues& c) const;
Vector error_vector(const gtsam::VectorValues& c) const;
double error(const gtsam::VectorValues& c) const;
@ -346,10 +340,8 @@ virtual class HessianFactor : gtsam::GaussianFactor {
HessianFactor(const gtsam::GaussianFactorGraph& factors);
//Testable
size_t size() const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
void printKeys(string s) const;
bool equals(const gtsam::GaussianFactor& lf, double tol) const;
double error(const gtsam::VectorValues& c) const;

5
gtsam/nonlinear/nonlinear.i
View File

@ -110,13 +110,10 @@ class NonlinearFactorGraph {
};
#include <gtsam/nonlinear/NonlinearFactor.h>
virtual class NonlinearFactor {
virtual class NonlinearFactor : gtsam::Factor {
// Factor base class
size_t size() const;
gtsam::KeyVector keys() const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
void printKeys(string s) const;
// NonlinearFactor
bool equals(const gtsam::NonlinearFactor& other, double tol) const;
double error(const gtsam::Values& c) const;

7
gtsam/symbolic/symbolic.i
View File

@ -4,7 +4,7 @@
namespace gtsam {
#include <gtsam/symbolic/SymbolicFactor.h>
virtual class SymbolicFactor {
virtual class SymbolicFactor : gtsam::Factor {
// Standard Constructors and Named Constructors
SymbolicFactor(const gtsam::SymbolicFactor& f);
SymbolicFactor();
@ -18,12 +18,10 @@ virtual class SymbolicFactor {
static gtsam::SymbolicFactor FromKeys(const gtsam::KeyVector& js);
// From Factor
size_t size() const;
void print(string s = "SymbolicFactor",
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::SymbolicFactor& other, double tol) const;
gtsam::KeyVector keys();
};
#include <gtsam/symbolic/SymbolicFactorGraph.h>
@ -161,6 +159,9 @@ class SymbolicBayesTree {
gtsam::SymbolicConditional* marginalFactor(size_t key) const;
gtsam::SymbolicFactorGraph* joint(size_t key1, size_t key2) const;
gtsam::SymbolicBayesNet* jointBayesNet(size_t key1, size_t key2) const;
string dot(const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
};
class SymbolicBayesTreeClique {