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Expose things in the wrapper

release/4.3a0
Frank Dellaert 2022-01-26 23:19:38 -05:00
parent ebe3aadada
commit 733f3e5f86
4 changed files with 38 additions and 28 deletions
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12
gtsam/discrete/discrete.i
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@ -102,6 +102,7 @@ virtual class DiscreteConditional : gtsam::DecisionTreeFactor {
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::DiscreteConditional& other, double tol = 1e-9) const; bool equals(const gtsam::DiscreteConditional& other, double tol = 1e-9) const;
gtsam::Key firstFrontalKey() const;
size_t nrFrontals() const; size_t nrFrontals() const;
size_t nrParents() const; size_t nrParents() const;
void printSignature( void printSignature(
@ -156,10 +157,13 @@ class DiscreteBayesNet {
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::DiscreteBayesNet& other, double tol = 1e-9) const; bool equals(const gtsam::DiscreteBayesNet& other, double tol = 1e-9) const;
string dot(const gtsam::KeyFormatter& keyFormatter = string dot(
gtsam::DefaultKeyFormatter) const; const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
void saveGraph(string s, const gtsam::KeyFormatter& keyFormatter = const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
gtsam::DefaultKeyFormatter) const; void saveGraph(
string s,
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
double operator()(const gtsam::DiscreteValues& values) const; double operator()(const gtsam::DiscreteValues& values) const;
gtsam::DiscreteValues sample() const; gtsam::DiscreteValues sample() const;
gtsam::DiscreteValues sample(gtsam::DiscreteValues given) const; gtsam::DiscreteValues sample(gtsam::DiscreteValues given) const;

2
gtsam/inference/inference.i
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@ -127,6 +127,8 @@ class DotWriter {
bool plotFactorPoints; bool plotFactorPoints;
bool connectKeysToFactor; bool connectKeysToFactor;
bool binaryEdges; bool binaryEdges;
std::map<gtsam::Key, gtsam::Vector2> variablePositions;
}; };
#include <gtsam/inference/VariableIndex.h> #include <gtsam/inference/VariableIndex.h>

51
gtsam/linear/linear.i
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@ -443,36 +443,39 @@ class GaussianFactorGraph {
#include <gtsam/linear/GaussianConditional.h> #include <gtsam/linear/GaussianConditional.h>
virtual class GaussianConditional : gtsam::JacobianFactor { virtual class GaussianConditional : gtsam::JacobianFactor {
//Constructors // Constructors
GaussianConditional(size_t key, Vector d, Matrix R, const gtsam::noiseModel::Diagonal* sigmas); GaussianConditional(size_t key, Vector d, Matrix R,
const gtsam::noiseModel::Diagonal* sigmas);
GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
const gtsam::noiseModel::Diagonal* sigmas); const gtsam::noiseModel::Diagonal* sigmas);
GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
size_t name2, Matrix T, const gtsam::noiseModel::Diagonal* sigmas); size_t name2, Matrix T,
const gtsam::noiseModel::Diagonal* sigmas);
//Constructors with no noise model // Constructors with no noise model
GaussianConditional(size_t key, Vector d, Matrix R); GaussianConditional(size_t key, Vector d, Matrix R);
GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S); GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S);
GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
size_t name2, Matrix T); size_t name2, Matrix T);
//Standard Interface // Standard Interface
void print(string s = "GaussianConditional", void print(string s = "GaussianConditional",
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GaussianConditional& cg, double tol) const; bool equals(const gtsam::GaussianConditional& cg, double tol) const;
gtsam::Key firstFrontalKey() const;
// Advanced Interface
gtsam::VectorValues solve(const gtsam::VectorValues& parents) const;
gtsam::VectorValues solveOtherRHS(const gtsam::VectorValues& parents,
const gtsam::VectorValues& rhs) const;
void solveTransposeInPlace(gtsam::VectorValues& gy) const;
Matrix R() const;
Matrix S() const;
Vector d() const;
// Advanced Interface // enabling serialization functionality
gtsam::VectorValues solve(const gtsam::VectorValues& parents) const; void serialize() const;
gtsam::VectorValues solveOtherRHS(const gtsam::VectorValues& parents,
const gtsam::VectorValues& rhs) const;
void solveTransposeInPlace(gtsam::VectorValues& gy) const;
Matrix R() const;
Matrix S() const;
Vector d() const;
// enabling serialization functionality
void serialize() const;
}; };
#include <gtsam/linear/GaussianDensity.h> #include <gtsam/linear/GaussianDensity.h>

1
gtsam/symbolic/symbolic.i
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@ -98,6 +98,7 @@ virtual class SymbolicConditional : gtsam::SymbolicFactor {
bool equals(const gtsam::SymbolicConditional& other, double tol) const; bool equals(const gtsam::SymbolicConditional& other, double tol) const;
// Standard interface // Standard interface
gtsam::Key firstFrontalKey() const;
size_t nrFrontals() const; size_t nrFrontals() const;
size_t nrParents() const; size_t nrParents() const;
}; };