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All matlab tests complete.

release/4.3a0
Andrew Melim 2012-06-26 20:40:15 +00:00
parent 6d776812d3
commit 642515a322
1 changed files with 9 additions and 4 deletions
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13
gtsam.h
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@ -921,6 +921,11 @@ class NonlinearFactor {
// size_t dim() const; // FIXME: Doesn't link
};
class EasyFactorGraph {
EasyFactorGraph();
void print(string s) const;
};
class Values {
Values();
size_t size() const;
@ -937,7 +942,7 @@ class KeyList {
// Note: no print function
size_t size() const;
};
// FIXME
// Actually a KeyVector<Key>
#include <gtsam/nonlinear/Values.h>
class KeyVector {
@ -959,9 +964,9 @@ class Marginals {
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
class LevenbergMarquardtParams {
/*LevenbergMarquardtParams();
LevenbergMarquardtParams();
LevenbergMarquardtParams(double initial, double factor, double bound, size_t verbose);
void print(string s) const;*/
void print(string s) const;
double getlambdaInitial() const ;
double getlambdaFactor() const ;
double getlambdaUpperBound() const;
@ -1075,7 +1080,7 @@ class Graph {
void addPosePrior(size_t key, const gtsam::Pose3& p, const gtsam::noiseModel::Base* model);
void addRelativePose(size_t key1, size_t key2, const gtsam::Pose3& z, const gtsam::noiseModel::Base* model);
pose3SLAM::Values optimize(const pose3SLAM::Values& initialEstimate, size_t verbosity) const;
// FIXME gtsam::LevenbergMarquardtOptimizer optimizer(const pose3SLAM::Values& initialEstimate, const gtsam::LevenbergMarquardtParams& parameters) const;
//gtsam::LevenbergMarquardtOptimizer optimizer(const pose3SLAM::Values& initialEstimate, const gtsam::LevenbergMarquardtParams& parameters) const;
gtsam::Marginals marginals(const pose3SLAM::Values& solution) const;
};