From 66f5ba0f4980cff94ed8da3ded5342671c350c5c Mon Sep 17 00:00:00 2001 From: p-zach Date: Wed, 23 Apr 2025 11:42:16 -0400 Subject: [PATCH] Param name mismatches --- gtsam/base/base.i | 2 +- gtsam/discrete/discrete.i | 6 +- gtsam/geometry/geometry.i | 138 ++++++++++++++--------------- gtsam/hybrid/hybrid.i | 6 +- gtsam/inference/inference.i | 4 +- gtsam/linear/GaussianFactorGraph.h | 2 +- gtsam/linear/linear.i | 18 ++-- gtsam/navigation/AHRSFactor.h | 2 +- gtsam/navigation/navigation.i | 20 ++--- gtsam/nonlinear/NonlinearFactor.h | 2 +- gtsam/nonlinear/nonlinear.i | 34 +++---- gtsam/nonlinear/values.i | 2 +- gtsam/sfm/sfm.i | 4 +- gtsam/slam/slam.i | 6 +- gtsam/symbolic/symbolic.i | 8 +- 15 files changed, 127 insertions(+), 127 deletions(-) diff --git a/gtsam/base/base.i b/gtsam/base/base.i index 3dc438e16..dac07c67d 100644 --- a/gtsam/base/base.i +++ b/gtsam/base/base.i @@ -93,7 +93,7 @@ virtual class Value { // No constructors because this is an abstract class // Testable - void print(string s = "") const; + void print(string str = "") const; // Manifold size_t dim() const; diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i index 91176601c..2f15de4c6 100644 --- a/gtsam/discrete/discrete.i +++ b/gtsam/discrete/discrete.i @@ -45,7 +45,7 @@ virtual class DiscreteFactor : gtsam::Factor { void print(string s = "DiscreteFactor\n", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; - bool equals(const gtsam::DiscreteFactor& other, double tol = 1e-9) const; + bool equals(const gtsam::DiscreteFactor& lf, double tol = 1e-9) const; double operator()(const gtsam::DiscreteValues& values) const; }; @@ -142,7 +142,7 @@ virtual class DiscreteConditional : gtsam::DecisionTreeFactor { size_t sample(size_t value) const; size_t sample() const; void sampleInPlace(gtsam::DiscreteValues @parentsValues) const; - size_t argmax(const gtsam::DiscreteValues& parents) const; + size_t argmax(const gtsam::DiscreteValues& parentsValues) const; // Markdown and HTML string markdown(const gtsam::KeyFormatter& keyFormatter = @@ -226,7 +226,7 @@ class DiscreteBayesNet { void print(string s = "DiscreteBayesNet\n", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; - bool equals(const gtsam::DiscreteBayesNet& other, double tol = 1e-9) const; + bool equals(const gtsam::DiscreteBayesNet& bn, double tol = 1e-9) const; // Standard interface. double logProbability(const gtsam::DiscreteValues& values) const; diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i index 8c6e70ef4..2c8e2f9ab 100644 --- a/gtsam/geometry/geometry.i +++ b/gtsam/geometry/geometry.i @@ -73,12 +73,12 @@ class StereoPoint2 { // Testable void print(string s = "") const; - bool equals(const gtsam::StereoPoint2& point, double tol) const; + bool equals(const gtsam::StereoPoint2& q, double tol) const; // Group static gtsam::StereoPoint2 Identity(); gtsam::StereoPoint2 inverse() const; - gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2) const; + gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p1) const; gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2) const; // Operator Overloads @@ -90,10 +90,10 @@ class StereoPoint2 { // Manifold gtsam::StereoPoint2 retract(gtsam::Vector v) const; - gtsam::Vector localCoordinates(const gtsam::StereoPoint2& p) const; + gtsam::Vector localCoordinates(const gtsam::StereoPoint2& t2) const; // Lie Group - static gtsam::StereoPoint2 Expmap(gtsam::Vector v); + static gtsam::StereoPoint2 Expmap(gtsam::Vector d); static gtsam::Vector Logmap(const gtsam::StereoPoint2& p); // Standard Interface @@ -154,7 +154,7 @@ class Rot2 { // Testable void print(string s = "theta") const; - bool equals(const gtsam::Rot2& rot, double tol) const; + bool equals(const gtsam::Rot2& R, double tol) const; // Group static gtsam::Rot2 Identity(); @@ -173,15 +173,15 @@ class Rot2 { // Lie Group static gtsam::Rot2 Expmap(gtsam::Vector v); - static gtsam::Vector Logmap(const gtsam::Rot2& p); + static gtsam::Vector Logmap(const gtsam::Rot2& r); gtsam::Rot2 expmap(gtsam::Vector v); gtsam::Vector logmap(const gtsam::Rot2& p); static gtsam::Matrix Hat(const gtsam::Vector& xi); - static gtsam::Vector Vee(const gtsam::Matrix& xi); + static gtsam::Vector Vee(const gtsam::Matrix& X); // Group Action on Point2 - gtsam::Point2 rotate(const gtsam::Point2& point) const; - gtsam::Point2 unrotate(const gtsam::Point2& point) const; + gtsam::Point2 rotate(const gtsam::Point2& p) const; + gtsam::Point2 unrotate(const gtsam::Point2& p) const; // Standard Interface static gtsam::Rot2 relativeBearing( @@ -356,7 +356,7 @@ class Rot3 { // Testable void print(string s = "") const; - bool equals(const gtsam::Rot3& rot, double tol) const; + bool equals(const gtsam::Rot3& p, double tol) const; // Group static gtsam::Rot3 Identity(); @@ -375,11 +375,11 @@ class Rot3 { // Lie group static gtsam::Rot3 Expmap(gtsam::Vector v); - static gtsam::Vector Logmap(const gtsam::Rot3& p); + static gtsam::Vector Logmap(const gtsam::Rot3& R); gtsam::Rot3 expmap(const gtsam::Vector& v); gtsam::Vector logmap(const gtsam::Rot3& p); static gtsam::Matrix Hat(const gtsam::Vector& xi); - static gtsam::Vector Vee(const gtsam::Matrix& xi); + static gtsam::Vector Vee(const gtsam::Matrix& X); // Group Action on Point3 gtsam::Point3 rotate(const gtsam::Point3& p) const; @@ -445,9 +445,9 @@ class Pose2 { gtsam::Vector localCoordinates(const gtsam::Pose2& p, Eigen::Ref H1, Eigen::Ref H2) const; // Lie Group - static gtsam::Pose2 Expmap(gtsam::Vector v); + static gtsam::Pose2 Expmap(gtsam::Vector xi); static gtsam::Vector Logmap(const gtsam::Pose2& p); - static gtsam::Pose2 Expmap(gtsam::Vector v, Eigen::Ref H); + static gtsam::Pose2 Expmap(gtsam::Vector xi, Eigen::Ref H); static gtsam::Vector Logmap(const gtsam::Pose2& p, Eigen::Ref H); gtsam::Pose2 expmap(gtsam::Vector v); gtsam::Pose2 expmap(gtsam::Vector v, Eigen::Ref H1, Eigen::Ref H2); @@ -457,11 +457,11 @@ class Pose2 { static gtsam::Matrix LogmapDerivative(const gtsam::Pose2& v); gtsam::Matrix AdjointMap() const; gtsam::Vector Adjoint(gtsam::Vector xi) const; - static gtsam::Matrix adjointMap_(gtsam::Vector v); + static gtsam::Matrix adjointMap_(gtsam::Vector xi); static gtsam::Vector adjoint_(gtsam::Vector xi, gtsam::Vector y); static gtsam::Vector adjointTranspose(gtsam::Vector xi, gtsam::Vector y); static gtsam::Matrix Hat(const gtsam::Vector& xi); - static gtsam::Vector Vee(const gtsam::Matrix& xi); + static gtsam::Vector Vee(const gtsam::Matrix& X); // Group Actions on Point2 gtsam::Point2 transformFrom(const gtsam::Point2& p) const; @@ -515,8 +515,8 @@ class Pose3 { gtsam::Pose3 between(const gtsam::Pose3& pose, Eigen::Ref H1, Eigen::Ref H2) const; - gtsam::Pose3 slerp(double t, const gtsam::Pose3& pose) const; - gtsam::Pose3 slerp(double t, const gtsam::Pose3& pose, + gtsam::Pose3 slerp(double t, const gtsam::Pose3& other) const; + gtsam::Pose3 slerp(double t, const gtsam::Pose3& other, Eigen::Ref Hx, Eigen::Ref Hy) const; @@ -530,20 +530,20 @@ class Pose3 { gtsam::Vector localCoordinates(const gtsam::Pose3& pose, Eigen::Ref Hxi) const; // Lie Group - static gtsam::Pose3 Expmap(gtsam::Vector v); + static gtsam::Pose3 Expmap(gtsam::Vector xi); static gtsam::Vector Logmap(const gtsam::Pose3& p); - static gtsam::Pose3 Expmap(gtsam::Vector v, Eigen::Ref H); - static gtsam::Vector Logmap(const gtsam::Pose3& p, Eigen::Ref H); + static gtsam::Pose3 Expmap(gtsam::Vector xi, Eigen::Ref Hxi); + static gtsam::Vector Logmap(const gtsam::Pose3& pose, Eigen::Ref Hpose); gtsam::Pose3 expmap(gtsam::Vector v); gtsam::Pose3 expmap(gtsam::Vector v, Eigen::Ref H1, Eigen::Ref H2); gtsam::Vector logmap(const gtsam::Pose3& p); gtsam::Vector logmap(const gtsam::Pose3& p, Eigen::Ref H1, Eigen::Ref H2); gtsam::Matrix AdjointMap() const; - gtsam::Vector Adjoint(gtsam::Vector xi) const; - gtsam::Vector Adjoint(gtsam::Vector xi, Eigen::Ref H_this, + gtsam::Vector Adjoint(gtsam::Vector xi_b) const; + gtsam::Vector Adjoint(gtsam::Vector xi_b, Eigen::Ref H_this, Eigen::Ref H_xib) const; - gtsam::Vector AdjointTranspose(gtsam::Vector xi) const; - gtsam::Vector AdjointTranspose(gtsam::Vector xi, Eigen::Ref H_this, + gtsam::Vector AdjointTranspose(gtsam::Vector x) const; + gtsam::Vector AdjointTranspose(gtsam::Vector x, Eigen::Ref H_this, Eigen::Ref H_x) const; static gtsam::Matrix adjointMap(gtsam::Vector xi); static gtsam::Vector adjoint(gtsam::Vector xi, gtsam::Vector y); @@ -553,7 +553,7 @@ class Pose3 { static gtsam::Matrix ExpmapDerivative(gtsam::Vector xi); static gtsam::Matrix LogmapDerivative(const gtsam::Pose3& xi); static gtsam::Matrix Hat(const gtsam::Vector& xi); - static gtsam::Vector Vee(const gtsam::Matrix& xi); + static gtsam::Vector Vee(const gtsam::Matrix& X); // Group Action on Point3 gtsam::Point3 transformFrom(const gtsam::Point3& point) const; @@ -576,10 +576,10 @@ class Pose3 { double y() const; double z() const; gtsam::Matrix matrix() const; - gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose) const; + gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& aTb) const; gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose, Eigen::Ref Hself, Eigen::Ref HaTb) const; - gtsam::Pose3 transformPoseTo(const gtsam::Pose3& pose) const; + gtsam::Pose3 transformPoseTo(const gtsam::Pose3& wTb) const; gtsam::Pose3 transformPoseTo(const gtsam::Pose3& pose, Eigen::Ref Hself, Eigen::Ref HwTb) const; double range(const gtsam::Point3& point); @@ -621,7 +621,7 @@ class Unit3 { // Testable void print(string s = "") const; - bool equals(const gtsam::Unit3& pose, double tol) const; + bool equals(const gtsam::Unit3& s, double tol) const; // Other functionality gtsam::Matrix basis() const; @@ -667,13 +667,13 @@ class EssentialMatrix { // Testable void print(string s = "") const; - bool equals(const gtsam::EssentialMatrix& pose, double tol) const; + bool equals(const gtsam::EssentialMatrix& other, double tol) const; // Manifold static size_t Dim(); size_t dim() const; - gtsam::EssentialMatrix retract(gtsam::Vector v) const; - gtsam::Vector localCoordinates(const gtsam::EssentialMatrix& s) const; + gtsam::EssentialMatrix retract(gtsam::Vector xi) const; + gtsam::Vector localCoordinates(const gtsam::EssentialMatrix& other) const; // Other methods: gtsam::Rot3 rotation() const; @@ -691,7 +691,7 @@ virtual class Cal3 { // Testable void print(string s = "Cal3") const; - bool equals(const gtsam::Cal3& rhs, double tol) const; + bool equals(const gtsam::Cal3& K, double tol) const; // Standard Interface double fx() const; @@ -720,13 +720,13 @@ virtual class Cal3_S2 : gtsam::Cal3 { // Testable void print(string s = "Cal3_S2") const; - bool equals(const gtsam::Cal3_S2& rhs, double tol) const; + bool equals(const gtsam::Cal3_S2& K, double tol) const; // Manifold static size_t Dim(); size_t dim() const; - gtsam::Cal3_S2 retract(gtsam::Vector v) const; - gtsam::Vector localCoordinates(const gtsam::Cal3_S2& c) const; + gtsam::Cal3_S2 retract(gtsam::Vector d) const; + gtsam::Vector localCoordinates(const gtsam::Cal3_S2& T2) const; // Action on Point2 gtsam::Point2 calibrate(const gtsam::Point2& p) const; @@ -779,13 +779,13 @@ virtual class Cal3DS2 : gtsam::Cal3DS2_Base { Cal3DS2(gtsam::Vector v); // Testable - bool equals(const gtsam::Cal3DS2& rhs, double tol) const; + bool equals(const gtsam::Cal3DS2& K, double tol) const; // Manifold size_t dim() const; static size_t Dim(); - gtsam::Cal3DS2 retract(gtsam::Vector v) const; - gtsam::Vector localCoordinates(const gtsam::Cal3DS2& c) const; + gtsam::Cal3DS2 retract(gtsam::Vector d) const; + gtsam::Vector localCoordinates(const gtsam::Cal3DS2& T2) const; // enabling serialization functionality void serialize() const; @@ -802,7 +802,7 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base { Cal3Unified(gtsam::Vector v); // Testable - bool equals(const gtsam::Cal3Unified& rhs, double tol) const; + bool equals(const gtsam::Cal3Unified& K, double tol) const; // Standard Interface double xi() const; @@ -812,8 +812,8 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base { // Manifold size_t dim() const; static size_t Dim(); - gtsam::Cal3Unified retract(gtsam::Vector v) const; - gtsam::Vector localCoordinates(const gtsam::Cal3Unified& c) const; + gtsam::Cal3Unified retract(gtsam::Vector d) const; + gtsam::Vector localCoordinates(const gtsam::Cal3Unified& T2) const; // Action on Point2 // Note: the signature of this functions differ from the functions @@ -841,11 +841,11 @@ virtual class Cal3Fisheye : gtsam::Cal3 { // Testable void print(string s = "Cal3Fisheye") const; - bool equals(const gtsam::Cal3Fisheye& rhs, double tol) const; + bool equals(const gtsam::Cal3Fisheye& K, double tol) const; // Manifold - gtsam::Cal3Fisheye retract(gtsam::Vector v) const; - gtsam::Vector localCoordinates(const gtsam::Cal3Fisheye& c) const; + gtsam::Cal3Fisheye retract(gtsam::Vector d) const; + gtsam::Vector localCoordinates(const gtsam::Cal3Fisheye& T2) const; // Action on Point2 gtsam::Point2 calibrate(const gtsam::Point2& p) const; @@ -875,12 +875,12 @@ virtual class Cal3_S2Stereo : gtsam::Cal3{ Cal3_S2Stereo(gtsam::Vector v); // Manifold - gtsam::Cal3_S2Stereo retract(gtsam::Vector v) const; - gtsam::Vector localCoordinates(const gtsam::Cal3_S2Stereo& c) const; + gtsam::Cal3_S2Stereo retract(gtsam::Vector d) const; + gtsam::Vector localCoordinates(const gtsam::Cal3_S2Stereo& T2) const; // Testable void print(string s = "") const; - bool equals(const gtsam::Cal3_S2Stereo& K, double tol) const; + bool equals(const gtsam::Cal3_S2Stereo& other, double tol) const; // Standard Interface double baseline() const; @@ -895,15 +895,15 @@ virtual class Cal3f : gtsam::Cal3 { // Testable void print(string s = "") const; - bool equals(const gtsam::Cal3f& rhs, double tol) const; + bool equals(const gtsam::Cal3f& K, double tol) const; // Manifold - gtsam::Cal3f retract(gtsam::Vector v) const; - gtsam::Vector localCoordinates(const gtsam::Cal3f& c) const; + gtsam::Cal3f retract(gtsam::Vector d) const; + gtsam::Vector localCoordinates(const gtsam::Cal3f& T2) const; // Action on Point2 - gtsam::Point2 calibrate(const gtsam::Point2& p) const; - gtsam::Point2 calibrate(const gtsam::Point2& p, + gtsam::Point2 calibrate(const gtsam::Point2& pi) const; + gtsam::Point2 calibrate(const gtsam::Point2& pi, Eigen::Ref Dcal, Eigen::Ref Dp) const; gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; @@ -929,11 +929,11 @@ virtual class Cal3Bundler : gtsam::Cal3f { // Testable void print(string s = "") const; - bool equals(const gtsam::Cal3Bundler& rhs, double tol) const; + bool equals(const gtsam::Cal3Bundler& K, double tol) const; // Manifold - gtsam::Cal3Bundler retract(gtsam::Vector v) const; - gtsam::Vector localCoordinates(const gtsam::Cal3Bundler& c) const; + gtsam::Cal3Bundler retract(gtsam::Vector d) const; + gtsam::Vector localCoordinates(const gtsam::Cal3Bundler& T2) const; // Standard Interface double k1() const; @@ -1020,7 +1020,7 @@ class CalibratedCamera { gtsam::Point2 project(const gtsam::Point3& point, Eigen::Ref Dcamera, Eigen::Ref Dpoint); - gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; + gtsam::Point3 backproject(const gtsam::Point2& pn, double depth) const; gtsam::Point3 backproject(const gtsam::Point2& p, double depth, Eigen::Ref Dresult_dpose, Eigen::Ref Dresult_dp, @@ -1139,7 +1139,7 @@ class PinholePose { // Manifold This retract(gtsam::Vector d) const; - gtsam::Vector localCoordinates(const This& T2) const; + gtsam::Vector localCoordinates(const This& p) const; size_t dim() const; static size_t Dim(); @@ -1191,11 +1191,11 @@ class Similarity2 { // Lie group static gtsam::Similarity2 Expmap(gtsam::Vector v); - static gtsam::Vector Logmap(const gtsam::Similarity2& p); + static gtsam::Vector Logmap(const gtsam::Similarity2& S); gtsam::Similarity2 expmap(const gtsam::Vector& v); gtsam::Vector logmap(const gtsam::Similarity2& p); static gtsam::Matrix Hat(const gtsam::Vector& xi); - static gtsam::Vector Vee(const gtsam::Matrix& xi); + static gtsam::Vector Vee(const gtsam::Matrix& X); // Standard Interface bool equals(const gtsam::Similarity2& sim, double tol) const; @@ -1223,11 +1223,11 @@ class Similarity3 { // Lie group static gtsam::Similarity3 Expmap(gtsam::Vector v); - static gtsam::Vector Logmap(const gtsam::Similarity3& p); + static gtsam::Vector Logmap(const gtsam::Similarity3& s); gtsam::Similarity3 expmap(const gtsam::Vector& v); gtsam::Vector logmap(const gtsam::Similarity3& p); static gtsam::Matrix Hat(const gtsam::Vector& xi); - static gtsam::Vector Vee(const gtsam::Matrix& xi); + static gtsam::Vector Vee(const gtsam::Matrix& X); // Standard Interface bool equals(const gtsam::Similarity3& sim, double tol) const; @@ -1263,14 +1263,14 @@ class StereoCamera { gtsam::Cal3_S2Stereo calibration() const; // Manifold - gtsam::StereoCamera retract(gtsam::Vector d) const; - gtsam::Vector localCoordinates(const gtsam::StereoCamera& T2) const; + gtsam::StereoCamera retract(gtsam::Vector v) const; + gtsam::Vector localCoordinates(const gtsam::StereoCamera& t2) const; size_t dim() const; static size_t Dim(); // Transformations and measurement functions gtsam::StereoPoint2 project(const gtsam::Point3& point) const; - gtsam::Point3 backproject(const gtsam::StereoPoint2& p) const; + gtsam::Point3 backproject(const gtsam::StereoPoint2& z) const; // project with Jacobian gtsam::StereoPoint2 project2(const gtsam::Point3& point, @@ -1443,10 +1443,10 @@ class BearingRange { BearingRange(const BEARING& b, const RANGE& r); BEARING bearing() const; RANGE range() const; - static This Measure(const POSE& pose, const POINT& point); - static BEARING MeasureBearing(const POSE& pose, const POINT& point); - static RANGE MeasureRange(const POSE& pose, const POINT& point); - void print(string s = "") const; + static This Measure(const POSE& a1, const POINT& a2); + static BEARING MeasureBearing(const POSE& a1, const POINT& a2); + static RANGE MeasureRange(const POSE& a1, const POINT& a2); + void print(string str = "") const; }; typedef gtsam::BearingRange diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i index a5902d769..2712f46da 100644 --- a/gtsam/hybrid/hybrid.i +++ b/gtsam/hybrid/hybrid.i @@ -39,7 +39,7 @@ virtual class HybridFactor : gtsam::Factor { void print(string s = "HybridFactor\n", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; - bool equals(const gtsam::HybridFactor& other, double tol = 1e-9) const; + bool equals(const gtsam::HybridFactor& lf, double tol = 1e-9) const; // Standard interface: double error(const gtsam::HybridValues& values) const; @@ -145,7 +145,7 @@ class HybridBayesNet { const gtsam::HybridConditional* at(size_t i) const; // Standard interface: - double logProbability(const gtsam::HybridValues& values) const; + double logProbability(const gtsam::HybridValues& x) const; double evaluate(const gtsam::HybridValues& values) const; double error(const gtsam::HybridValues& values) const; @@ -163,7 +163,7 @@ class HybridBayesNet { void print(string s = "HybridBayesNet\n", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; - bool equals(const gtsam::HybridBayesNet& other, double tol = 1e-9) const; + bool equals(const gtsam::HybridBayesNet& fg, double tol = 1e-9) const; string dot( const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter, diff --git a/gtsam/inference/inference.i b/gtsam/inference/inference.i index 0d7bd784e..f6f0c7ab0 100644 --- a/gtsam/inference/inference.i +++ b/gtsam/inference/inference.i @@ -143,7 +143,7 @@ class Ordering { template < FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph, gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridGaussianFactorGraph}> - static gtsam::Ordering Natural(const FACTOR_GRAPH& graph); + static gtsam::Ordering Natural(const FACTOR_GRAPH& fg); template < FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph, @@ -159,7 +159,7 @@ class Ordering { // Testable void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; - bool equals(const gtsam::Ordering& ord, double tol) const; + bool equals(const gtsam::Ordering& other, double tol) const; // Standard interface size_t size() const; diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 67313c086..684518afd 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -313,7 +313,7 @@ namespace gtsam { * the dense elimination function specified in \c function (default EliminatePreferCholesky), * followed by back-substitution in the Bayes tree resulting from elimination. Is equivalent * to calling graph.eliminateMultifrontal()->optimize(). */ - VectorValues optimize(const Ordering&, + VectorValues optimize(const Ordering& ordering, const Eliminate& function = EliminationTraitsType::DefaultEliminate) const; /** diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i index 4b6498424..587d3bcf3 100644 --- a/gtsam/linear/linear.i +++ b/gtsam/linear/linear.i @@ -276,7 +276,7 @@ class VectorValues { VectorValues(const gtsam::VectorValues& first, const gtsam::VectorValues& second); //Named Constructors - static gtsam::VectorValues Zero(const gtsam::VectorValues& model); + static gtsam::VectorValues Zero(const gtsam::VectorValues& other); //Standard Interface size_t size() const; @@ -285,7 +285,7 @@ class VectorValues { void print(string s = "VectorValues", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; - bool equals(const gtsam::VectorValues& expected, double tol) const; + bool equals(const gtsam::VectorValues& x, double tol) const; void insert(size_t j, gtsam::Vector value); gtsam::Vector vector() const; gtsam::Vector vector(const gtsam::KeyVector& keys) const; @@ -300,10 +300,10 @@ class VectorValues { void addInPlace(const gtsam::VectorValues& c); gtsam::VectorValues subtract(const gtsam::VectorValues& c) const; gtsam::VectorValues scale(double a) const; - void scaleInPlace(double a); + void scaleInPlace(double alpha); bool hasSameStructure(const gtsam::VectorValues& other) const; - double dot(const gtsam::VectorValues& V) const; + double dot(const gtsam::VectorValues& v) const; double norm() const; double squaredNorm() const; @@ -419,7 +419,7 @@ class GaussianFactorGraph { // From FactorGraph void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; - bool equals(const gtsam::GaussianFactorGraph& lfgraph, double tol) const; + bool equals(const gtsam::GaussianFactorGraph& fg, double tol) const; size_t size() const; gtsam::GaussianFactor* at(size_t idx) const; gtsam::KeySet keys() const; @@ -441,9 +441,9 @@ class GaussianFactorGraph { gtsam::Vector b, const gtsam::noiseModel::Diagonal* model); // error and probability - double error(const gtsam::VectorValues& c) const; + double error(const gtsam::VectorValues& x) const; double probPrime(const gtsam::VectorValues& c) const; - void printErrors(const gtsam::VectorValues& c, string str = "GaussianFactorGraph: ", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; + void printErrors(const gtsam::VectorValues& x, string str = "GaussianFactorGraph: ", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; gtsam::GaussianFactorGraph clone() const; gtsam::GaussianFactorGraph negate() const; @@ -553,7 +553,7 @@ virtual class GaussianConditional : gtsam::JacobianFactor { double negLogConstant() const; double logProbability(const gtsam::VectorValues& x) const; double evaluate(const gtsam::VectorValues& x) const; - double error(const gtsam::VectorValues& x) const; + double error(const gtsam::VectorValues& c) const; gtsam::Key firstFrontalKey() const; gtsam::VectorValues solve(const gtsam::VectorValues& parents) const; gtsam::JacobianFactor* likelihood( @@ -609,7 +609,7 @@ virtual class GaussianBayesNet { // Testable void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; - bool equals(const gtsam::GaussianBayesNet& other, double tol) const; + bool equals(const gtsam::GaussianBayesNet& bn, double tol) const; size_t size() const; void push_back(gtsam::GaussianConditional* conditional); diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h index deea724be..da3849056 100644 --- a/gtsam/navigation/AHRSFactor.h +++ b/gtsam/navigation/AHRSFactor.h @@ -85,7 +85,7 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation void print(const std::string& s = "Preintegrated Measurements: ") const; /// equals - bool equals(const PreintegratedAhrsMeasurements&, double tol = 1e-9) const; + bool equals(const PreintegratedAhrsMeasurements& expected, double tol = 1e-9) const; /// Reset integrated quantities to zero void resetIntegration(); diff --git a/gtsam/navigation/navigation.i b/gtsam/navigation/navigation.i index 6ab3eb7a9..bfa705ca5 100644 --- a/gtsam/navigation/navigation.i +++ b/gtsam/navigation/navigation.i @@ -46,7 +46,7 @@ class NavState { // Testable void print(string s = "") const; - bool equals(const gtsam::NavState& expected, double tol) const; + bool equals(const gtsam::NavState& other, double tol) const; // Access gtsam::Rot3 attitude() const; @@ -55,22 +55,22 @@ class NavState { gtsam::Pose3 pose() const; // Manifold - gtsam::NavState retract(const gtsam::Vector& x) const; + gtsam::NavState retract(const gtsam::Vector& v) const; gtsam::Vector localCoordinates(const gtsam::NavState& g) const; // Lie Group static gtsam::NavState Expmap(gtsam::Vector v); static gtsam::Vector Logmap(const gtsam::NavState& p); - static gtsam::NavState Expmap(gtsam::Vector v, Eigen::Ref H); - static gtsam::Vector Logmap(const gtsam::NavState& p, Eigen::Ref H); + static gtsam::NavState Expmap(gtsam::Vector xi, Eigen::Ref Hxi); + static gtsam::Vector Logmap(const gtsam::NavState& pose, Eigen::Ref Hpose); gtsam::NavState expmap(gtsam::Vector v); gtsam::NavState expmap(gtsam::Vector v, Eigen::Ref H1, Eigen::Ref H2); gtsam::Vector logmap(const gtsam::NavState& p); gtsam::Vector logmap(const gtsam::NavState& p, Eigen::Ref H1, Eigen::Ref H2); gtsam::Matrix AdjointMap() const; - gtsam::Vector Adjoint(gtsam::Vector xi) const; + gtsam::Vector Adjoint(gtsam::Vector xi_b) const; static gtsam::Matrix Hat(const gtsam::Vector& xi); - static gtsam::Vector Vee(const gtsam::Matrix& xi); + static gtsam::Vector Vee(const gtsam::Matrix& X); // enabling serialization functionality void serialize() const; @@ -82,7 +82,7 @@ virtual class PreintegratedRotationParams { // Testable void print(string s = "") const; - bool equals(const gtsam::PreintegratedRotationParams& expected, double tol); + bool equals(const gtsam::PreintegratedRotationParams& other, double tol); void setGyroscopeCovariance(gtsam::Matrix cov); void setOmegaCoriolis(gtsam::Vector omega); @@ -114,7 +114,7 @@ class PreintegratedRotation { // Testable void print(string s = "") const; - bool equals(const gtsam::PreintegratedRotation& expected, double tol) const; + bool equals(const gtsam::PreintegratedRotation& other, double tol) const; // enabling serialization functionality void serialize() const; @@ -133,7 +133,7 @@ virtual class PreintegrationParams : gtsam::PreintegratedRotationParams { // Testable void print(string s = "") const; - bool equals(const gtsam::PreintegrationParams& expected, double tol); + bool equals(const gtsam::PreintegrationParams& other, double tol); void setAccelerometerCovariance(gtsam::Matrix cov); void setIntegrationCovariance(gtsam::Matrix cov); @@ -221,7 +221,7 @@ virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams { // Testable void print(string s = "") const; - bool equals(const gtsam::PreintegrationCombinedParams& expected, double tol); + bool equals(const gtsam::PreintegrationCombinedParams& other, double tol); void setBiasAccCovariance(gtsam::Matrix cov); void setBiasOmegaCovariance(gtsam::Matrix cov); diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 692c82c95..edff0cb23 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -139,7 +139,7 @@ public: * when the constraint is *NOT* fulfilled. * @return true if the constraint is active */ - virtual bool active(const Values& /*c*/) const { return true; } + virtual bool active(const Values& c) const { return true; } /** linearize to a GaussianFactor */ virtual std::shared_ptr diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i index c13defbad..43f5913eb 100644 --- a/gtsam/nonlinear/nonlinear.i +++ b/gtsam/nonlinear/nonlinear.i @@ -50,7 +50,7 @@ class NonlinearFactorGraph { void print(string s = "NonlinearFactorGraph: ", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; - bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const; + bool equals(const gtsam::NonlinearFactorGraph& other, double tol) const; size_t size() const; bool empty() const; void remove(size_t i); @@ -107,7 +107,7 @@ class NonlinearFactorGraph { gtsam::Ordering orderingCOLAMD() const; // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const // std::map& constraints) const; - gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values) const; + gtsam::GaussianFactorGraph* linearize(const gtsam::Values& linearizationPoint) const; gtsam::NonlinearFactorGraph clone() const; string dot( @@ -129,7 +129,7 @@ virtual class NonlinearFactor : gtsam::Factor { void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; // NonlinearFactor - bool equals(const gtsam::NonlinearFactor& other, double tol) const; + bool equals(const gtsam::NonlinearFactor& f, double tol) const; double error(const gtsam::Values& c) const; double error(const gtsam::HybridValues& c) const; size_t dim() const; @@ -141,11 +141,11 @@ virtual class NonlinearFactor : gtsam::Factor { #include virtual class NoiseModelFactor : gtsam::NonlinearFactor { - bool equals(const gtsam::NoiseModelFactor& other, double tol) const; + bool equals(const gtsam::NoiseModelFactor& f, double tol) const; gtsam::noiseModel::Base* noiseModel() const; gtsam::NoiseModelFactor* cloneWithNewNoiseModel(gtsam::noiseModel::Base* newNoise) const; gtsam::Vector unwhitenedError(const gtsam::Values& x) const; - gtsam::Vector whitenedError(const gtsam::Values& x) const; + gtsam::Vector whitenedError(const gtsam::Values& c) const; }; #include @@ -216,7 +216,7 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor { #include virtual class NonlinearOptimizerParams { NonlinearOptimizerParams(); - void print(string s = "") const; + void print(string str = "") const; int getMaxIterations() const; double getRelativeErrorTol() const; @@ -228,7 +228,7 @@ virtual class NonlinearOptimizerParams { void setRelativeErrorTol(double value); void setAbsoluteErrorTol(double value); void setErrorTol(double value); - void setVerbosity(string s); + void setVerbosity(string src); string getLinearSolverType() const; void setLinearSolverType(string solver); @@ -404,14 +404,14 @@ virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer { gtsam::LevenbergMarquardtParams()); double lambda() const; - void print(string s = "") const; + void print(string str = "") const; }; #include class ISAM2GaussNewtonParams { ISAM2GaussNewtonParams(double _wildfireThreshold = 0.001); - void print(string s = "") const; + void print(string str = "") const; /** Getters and Setters for all properties */ double getWildfireThreshold() const; @@ -421,7 +421,7 @@ class ISAM2GaussNewtonParams { class ISAM2DoglegParams { ISAM2DoglegParams(); - void print(string s = "") const; + void print(string str = "") const; /** Getters and Setters for all properties */ double getWildfireThreshold() const; @@ -457,13 +457,13 @@ class ISAM2ThresholdMap { class ISAM2Params { ISAM2Params(); - void print(string s = "") const; + void print(string str = "") const; /** Getters and Setters for all properties */ void setOptimizationParams( const gtsam::ISAM2GaussNewtonParams& gauss_newton__params); - void setOptimizationParams(const gtsam::ISAM2DoglegParams& dogleg_params); - void setRelinearizeThreshold(double threshold); + void setOptimizationParams(const gtsam::ISAM2DoglegParams& optimizationParams); + void setRelinearizeThreshold(double relinearizeThreshold); void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& threshold_map); string getFactorization() const; void setFactorization(string factorization); @@ -493,7 +493,7 @@ class ISAM2Clique { class ISAM2Result { ISAM2Result(); - void print(string s = "") const; + void print(string str = "") const; /** Getters and Setters for all properties */ size_t getVariablesRelinearized() const; @@ -542,7 +542,7 @@ class ISAM2 { const gtsam::Values& newTheta, const gtsam::ISAM2UpdateParams& updateParams); - double error(const gtsam::VectorValues& values) const; + double error(const gtsam::VectorValues& x) const; gtsam::Values getLinearizationPoint() const; bool valueExists(gtsam::Key key) const; @@ -717,7 +717,7 @@ virtual class FixedLagSmoother { virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother { BatchFixedLagSmoother(); BatchFixedLagSmoother(double smootherLag); - BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& params); + BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& parameters); void print(string s = "BatchFixedLagSmoother:\n") const; @@ -735,7 +735,7 @@ virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother { virtual class IncrementalFixedLagSmoother : gtsam::FixedLagSmoother { IncrementalFixedLagSmoother(); IncrementalFixedLagSmoother(double smootherLag); - IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& params); + IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& parameters); void print(string s = "IncrementalFixedLagSmoother:\n") const; diff --git a/gtsam/nonlinear/values.i b/gtsam/nonlinear/values.i index e1fc6666f..bd17958e2 100644 --- a/gtsam/nonlinear/values.i +++ b/gtsam/nonlinear/values.i @@ -49,7 +49,7 @@ class Values { void update(const gtsam::Values& values); void insert_or_assign(const gtsam::Values& values); void erase(size_t j); - void swap(gtsam::Values& values); + void swap(gtsam::Values& other); bool exists(size_t j) const; gtsam::KeyVector keys() const; diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i index 24f24f1bb..2af5d9c25 100644 --- a/gtsam/sfm/sfm.i +++ b/gtsam/sfm/sfm.i @@ -34,7 +34,7 @@ virtual class SfmTrack : gtsam::SfmTrack2d { void serialize() const; // enabling function to compare objects - bool equals(const gtsam::SfmTrack& expected, double tol) const; + bool equals(const gtsam::SfmTrack& sfmTrack, double tol) const; }; #include @@ -67,7 +67,7 @@ class SfmData { void serialize() const; // enabling function to compare objects - bool equals(const gtsam::SfmData& expected, double tol) const; + bool equals(const gtsam::SfmData& sfmData, double tol) const; }; gtsam::SfmData readBal(string filename); diff --git a/gtsam/slam/slam.i b/gtsam/slam/slam.i index de24b308c..d8a2e49bf 100644 --- a/gtsam/slam/slam.i +++ b/gtsam/slam/slam.i @@ -309,7 +309,7 @@ virtual class EssentialMatrixConstraint : gtsam::NoiseModelFactor { const gtsam::noiseModel::Base *model); void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; - bool equals(const gtsam::EssentialMatrixConstraint& other, double tol) const; + bool equals(const gtsam::EssentialMatrixConstraint& expected, double tol) const; gtsam::Vector evaluateError(const gtsam::Pose3& p1, const gtsam::Pose3& p2) const; const gtsam::EssentialMatrix& measured() const; }; @@ -407,14 +407,14 @@ gtsam::noiseModel::Isotropic* ConvertNoiseModel(gtsam::noiseModel::Base* model, template virtual class FrobeniusFactor : gtsam::NoiseModelFactor { FrobeniusFactor(size_t key1, size_t key2); - FrobeniusFactor(size_t key1, size_t key2, gtsam::noiseModel::Base* model); + FrobeniusFactor(size_t j1, size_t j2, gtsam::noiseModel::Base* model); gtsam::Vector evaluateError(const T& T1, const T& T2); }; template virtual class FrobeniusBetweenFactor : gtsam::NoiseModelFactor { - FrobeniusBetweenFactor(size_t key1, size_t key2, const T& T12); + FrobeniusBetweenFactor(size_t j1, size_t j2, const T& T12); FrobeniusBetweenFactor(size_t key1, size_t key2, const T& T12, gtsam::noiseModel::Base* model); diff --git a/gtsam/symbolic/symbolic.i b/gtsam/symbolic/symbolic.i index 4da59dfa9..27cb1b1b8 100644 --- a/gtsam/symbolic/symbolic.i +++ b/gtsam/symbolic/symbolic.i @@ -15,7 +15,7 @@ virtual class SymbolicFactor : gtsam::Factor { SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5); SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5, size_t j6); - static gtsam::SymbolicFactor FromKeys(const gtsam::KeyVector& js); + static gtsam::SymbolicFactor FromKeys(const gtsam::KeyVector& keys); // From Factor void print(string s = "SymbolicFactor", @@ -35,7 +35,7 @@ virtual class SymbolicFactorGraph { void print(string s = "SymbolicFactorGraph", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; - bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const; + bool equals(const gtsam::SymbolicFactorGraph& fg, double tol) const; size_t size() const; bool exists(size_t idx) const; @@ -101,7 +101,7 @@ virtual class SymbolicConditional : gtsam::SymbolicFactor { // Testable void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; - bool equals(const gtsam::SymbolicConditional& other, double tol) const; + bool equals(const gtsam::SymbolicConditional& c, double tol) const; // Standard interface gtsam::Key firstFrontalKey() const; @@ -117,7 +117,7 @@ class SymbolicBayesNet { void print(string s = "SymbolicBayesNet", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; - bool equals(const gtsam::SymbolicBayesNet& other, double tol) const; + bool equals(const gtsam::SymbolicBayesNet& bn, double tol) const; // Standard interface size_t size() const;