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update wrapped code

release/4.3a0
Varun Agrawal 2023-06-20 09:07:52 -04:00
parent 73c950e69a
commit 445ffb3110
1 changed files with 43 additions and 28 deletions
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71
gtsam/basis/basis.i
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@ -71,44 +71,28 @@ virtual class EvaluationFactor : gtsam::NoiseModelFactor {
double x, double a, double b);
};
template <BASIS, M>
template <BASIS = {gtsam::Chebyshev2}>
virtual class VectorEvaluationFactor : gtsam::NoiseModelFactor {
VectorEvaluationFactor();
VectorEvaluationFactor(gtsam::Key key, const Vector& z,
const gtsam::noiseModel::Base* model, const size_t N,
double x);
const gtsam::noiseModel::Base* model, const size_t M,
const size_t N, double x);
VectorEvaluationFactor(gtsam::Key key, const Vector& z,
const gtsam::noiseModel::Base* model, const size_t N,
double x, double a, double b);
const gtsam::noiseModel::Base* model, const size_t M,
const size_t N, double x, double a, double b);
};
// TODO(Varun) Better way to support arbitrary dimensions?
// Especially if users mainly do `pip install gtsam` for the Python wrapper.
typedef gtsam::VectorEvaluationFactor<gtsam::Chebyshev2, 3>
VectorEvaluationFactorChebyshev2D3;
typedef gtsam::VectorEvaluationFactor<gtsam::Chebyshev2, 4>
VectorEvaluationFactorChebyshev2D4;
typedef gtsam::VectorEvaluationFactor<gtsam::Chebyshev2, 12>
VectorEvaluationFactorChebyshev2D12;
template <BASIS, P>
template <BASIS = {gtsam::Chebyshev2}>
virtual class VectorComponentFactor : gtsam::NoiseModelFactor {
VectorComponentFactor();
VectorComponentFactor(gtsam::Key key, const double z,
const gtsam::noiseModel::Base* model, const size_t N,
size_t i, double x);
const gtsam::noiseModel::Base* model, const size_t M,
const size_t N, size_t i, double x);
VectorComponentFactor(gtsam::Key key, const double z,
const gtsam::noiseModel::Base* model, const size_t N,
size_t i, double x, double a, double b);
const gtsam::noiseModel::Base* model, const size_t M,
const size_t N, size_t i, double x, double a, double b);
};
typedef gtsam::VectorComponentFactor<gtsam::Chebyshev2, 3>
VectorComponentFactorChebyshev2D3;
typedef gtsam::VectorComponentFactor<gtsam::Chebyshev2, 4>
VectorComponentFactorChebyshev2D4;
typedef gtsam::VectorComponentFactor<gtsam::Chebyshev2, 12>
VectorComponentFactorChebyshev2D12;
template <BASIS, T>
virtual class ManifoldEvaluationFactor : gtsam::NoiseModelFactor {
ManifoldEvaluationFactor();
@ -127,8 +111,39 @@ typedef gtsam::ManifoldEvaluationFactor<gtsam::Chebyshev2, gtsam::Rot3>
typedef gtsam::ManifoldEvaluationFactor<gtsam::Chebyshev2, gtsam::Pose3>
ManifoldEvaluationFactorChebyshev2Pose3;
// TODO(gerry): Add `DerivativeFactor`, `VectorDerivativeFactor`, and
// `ComponentDerivativeFactor`
template <BASIS = {gtsam::Chebyshev2}>
virtual class DerivativeFactor : gtsam::NoiseModelFactor {
DerivativeFactor();
DerivativeFactor(gtsam::Key key, const double z,
const gtsam::noiseModel::Base* model, const size_t N,
double x);
DerivativeFactor(gtsam::Key key, const double z,
const gtsam::noiseModel::Base* model, const size_t N,
double x, double a, double b);
};
template <BASIS = {gtsam::Chebyshev2}>
virtual class VectorDerivativeFactor : gtsam::NoiseModelFactor {
VectorDerivativeFactor();
VectorDerivativeFactor(gtsam::Key key, const Vector& z,
const gtsam::noiseModel::Base* model, const size_t M,
const size_t N, double x);
VectorDerivativeFactor(gtsam::Key key, const Vector& z,
const gtsam::noiseModel::Base* model, const size_t M,
const size_t N, double x, double a, double b);
};
template <BASIS = {gtsam::Chebyshev2}>
virtual class ComponentDerivativeFactor : gtsam::NoiseModelFactor {
ComponentDerivativeFactor();
ComponentDerivativeFactor(gtsam::Key key, const double z,
const gtsam::noiseModel::Base* model,
const size_t P, const size_t N, size_t i, double x);
ComponentDerivativeFactor(gtsam::Key key, const double z,
const gtsam::noiseModel::Base* model,
const size_t P, const size_t N, size_t i, double x,
double a, double b);
};
#include <gtsam/basis/FitBasis.h>
template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,