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change all print() to print(string s) and create SymbolicFactor

release/4.3a0
Viorela Ila 2009-11-11 22:45:08 +00:00
parent 70efccefbc
commit 4a7e05fffa
1 changed files with 26 additions and 20 deletions
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46
cpp/gtsam.h
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@ -1,10 +1,19 @@
class Ordering {
Ordering();
void push_back(string s);
void print(string s) const;
};
class SymbolicFactor{
};
class VectorConfig { class VectorConfig {
VectorConfig(); VectorConfig();
Vector get(string name) const; Vector get(string name) const;
bool contains(string name) const; bool contains(string name) const;
size_t size() const; size_t size() const;
void insert(string name, Vector val); void insert(string name, Vector val);
void print() const; void print(string s) const;
bool equals(const VectorConfig& expected, double tol) const; bool equals(const VectorConfig& expected, double tol) const;
void clear(); void clear();
}; };
@ -38,7 +47,7 @@ class LinearFactor {
Matrix get_A(string key) const; Matrix get_A(string key) const;
double error(const VectorConfig& c) const; double error(const VectorConfig& c) const;
bool involves(string key) const; bool involves(string key) const;
void print() const; void print(string s) const;
bool equals(const LinearFactor& lf, double tol) const; bool equals(const LinearFactor& lf, double tol) const;
pair<Matrix,Vector> matrix(const Ordering& ordering) const; pair<Matrix,Vector> matrix(const Ordering& ordering) const;
}; };
@ -63,22 +72,18 @@ class ConditionalGaussian {
string name2, string name2,
Matrix T, Matrix T,
Vector sigmas); Vector sigmas);
void print() const; void print(string s) const;
Vector solve(const VectorConfig& x); Vector solve(const VectorConfig& x);
void add(string key, Matrix S); void add(string key, Matrix S);
bool equals(const ConditionalGaussian &cg) const; bool equals(const ConditionalGaussian &cg, double tol) const;
};
class Ordering {
Ordering();
void push_back(string s);
void print() const;
}; };
class GaussianBayesNet { class GaussianBayesNet {
GaussianBayesNet(); GaussianBayesNet();
void print() const; void print(string s) const;
bool equals(const GaussianBayesNet& cbn) const; bool equals(const GaussianBayesNet& cbn, double tol) const;
void push_back(ConditionalGaussian* conditional);
void push_front(ConditionalGaussian* conditional);
}; };
class LinearFactorGraph { class LinearFactorGraph {
@ -88,11 +93,12 @@ class LinearFactorGraph {
void push_back(LinearFactor* ptr_f); void push_back(LinearFactor* ptr_f);
double error(const VectorConfig& c) const; double error(const VectorConfig& c) const;
double probPrime(const VectorConfig& c) const; double probPrime(const VectorConfig& c) const;
void print() const; void print(string s) const;
bool equals(const LinearFactorGraph& lfgraph) const; bool equals(const LinearFactorGraph& lfgraph, double tol) const;
VectorConfig* optimize_(const Ordering& ordering); ConditionalGaussian* eliminateOne(string key);
GaussianBayesNet* eliminate_(const Ordering& ordering); GaussianBayesNet* eliminate_(const Ordering& ordering);
VectorConfig* optimize_(const Ordering& ordering);
pair<Matrix,Vector> matrix(const Ordering& ordering) const; pair<Matrix,Vector> matrix(const Ordering& ordering) const;
Matrix sparse(const Ordering& ordering) const; Matrix sparse(const Ordering& ordering) const;
}; };
@ -103,7 +109,7 @@ class Point2 {
double x(); double x();
double y(); double y();
size_t dim() const; size_t dim() const;
void print() const; void print(string s) const;
}; };
class Point3 { class Point3 {
@ -116,7 +122,7 @@ class Point3 {
double x(); double x();
double y(); double y();
double z(); double z();
void print() const; void print(string s) const;
}; };
class Point2Prior { class Point2Prior {
@ -126,7 +132,7 @@ class Point2Prior {
double sigma(); double sigma();
Vector measurement(); Vector measurement();
double error(const VectorConfig& c) const; double error(const VectorConfig& c) const;
void print() const; void print(string s) const;
}; };
class Simulated2DOdometry { class Simulated2DOdometry {
@ -136,7 +142,7 @@ class Simulated2DOdometry {
double sigma(); double sigma();
Vector measurement(); Vector measurement();
double error(const VectorConfig& c) const; double error(const VectorConfig& c) const;
void print() const; void print(string s) const;
}; };
class Simulated2DMeasurement { class Simulated2DMeasurement {
@ -146,6 +152,6 @@ class Simulated2DMeasurement {
double sigma(); double sigma();
Vector measurement(); Vector measurement();
double error(const VectorConfig& c) const; double error(const VectorConfig& c) const;
void print() const; void print(string s) const;
}; };