diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i index 56e7248a3..93979bba1 100644 --- a/gtsam/discrete/discrete.i +++ b/gtsam/discrete/discrete.i @@ -270,11 +270,14 @@ class DiscreteFactorGraph { gtsam::DiscreteLookupDAG maxProduct(const gtsam::Ordering& ordering); gtsam::DiscreteBayesNet eliminateSequential(); + gtsam::DiscreteBayesNet eliminateSequential(gtsam::Ordering::OrderingType type); gtsam::DiscreteBayesNet eliminateSequential(const gtsam::Ordering& ordering); std::pair eliminatePartialSequential(const gtsam::Ordering& ordering); + gtsam::DiscreteBayesTree eliminateMultifrontal(); - gtsam::DiscreteBayesTree eliminateMultifrontal(const gtsam::Ordering& ordering); + gtsam::DiscreteBayesTree eliminateMultifrontal(gtsam::Ordering::OrderingType type); + gtsam::DiscreteBayesTree eliminateMultifrontal(const gtsam::Ordering& ordering); std::pair eliminatePartialMultifrontal(const gtsam::Ordering& ordering); diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i index b079c3dd1..674287b87 100644 --- a/gtsam/linear/linear.i +++ b/gtsam/linear/linear.i @@ -407,8 +407,10 @@ class GaussianFactorGraph { // Elimination and marginals gtsam::GaussianBayesNet* eliminateSequential(); + gtsam::GaussianBayesNet* eliminateSequential(gtsam::Ordering::OrderingType type); gtsam::GaussianBayesNet* eliminateSequential(const gtsam::Ordering& ordering); gtsam::GaussianBayesTree* eliminateMultifrontal(); + gtsam::GaussianBayesTree* eliminateMultifrontal(gtsam::Ordering::OrderingType type); gtsam::GaussianBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering); pair eliminatePartialSequential( const gtsam::Ordering& ordering); @@ -527,6 +529,7 @@ virtual class GaussianBayesNet { gtsam::VectorValues optimize() const; gtsam::VectorValues optimize(gtsam::VectorValues& solutionForMissing) const; + std::pair matrix() const; gtsam::VectorValues optimizeGradientSearch() const; gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const; gtsam::VectorValues gradientAtZero() const; @@ -556,7 +559,12 @@ virtual class GaussianBayesTree { size_t size() const; bool empty() const; size_t numCachedSeparatorMarginals() const; - void saveGraph(string s) const; + + string dot(const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; + void saveGraph(string s, + const gtsam::KeyFormatter& keyFormatter = + gtsam::DefaultKeyFormatter) const; gtsam::VectorValues optimize() const; gtsam::VectorValues optimizeGradientSearch() const;