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Wrapped some more iSAM methods. Note that wrap cannot handle returning a reference, so the 4 methods we (Yong-Dian and I) added make a copy, just by declaring it a non-reference in gtsam.h. Works, but be mindful of cost.

release/4.3a0
Frank Dellaert 2012-06-13 17:45:27 +00:00
parent 87fe727838
commit 4bbe66f106
1 changed files with 7 additions and 0 deletions
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7
gtsam.h
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@ -659,6 +659,7 @@ class Ordering {
class NonlinearFactorGraph { class NonlinearFactorGraph {
NonlinearFactorGraph(); NonlinearFactorGraph();
void print(string s) const;
}; };
class Values { class Values {
@ -975,6 +976,12 @@ class ISAM {
void reorder_relinearize(); void reorder_relinearize();
void addKey(size_t key); void addKey(size_t key);
void setOrdering(const gtsam::Ordering& new_ordering); void setOrdering(const gtsam::Ordering& new_ordering);
// These might be expensive as instead of a reference the wrapper will make a copy
gtsam::GaussianISAM bayesTree() const;
visualSLAM::Values getLinearizationPoint() const;
gtsam::Ordering getOrdering() const;
gtsam::NonlinearFactorGraph getFactorsUnsafe() const;
}; };
}///\namespace visualSLAM }///\namespace visualSLAM