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expose iSAM object for iFLS, fix __repr__ of iFLS, bFLS

release/4.3a0
senselessDev 2022-01-29 23:31:07 +01:00
parent 40d3badf1f
commit 75263296b3
2 changed files with 8 additions and 0 deletions
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5
gtsam_unstable/gtsam_unstable.i
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@ -582,6 +582,8 @@ virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
BatchFixedLagSmoother(double smootherLag); BatchFixedLagSmoother(double smootherLag);
BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& params); BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& params);
void print(string s = "BatchFixedLagSmoother:\n") const;
gtsam::LevenbergMarquardtParams params() const; gtsam::LevenbergMarquardtParams params() const;
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3, template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
@ -595,9 +597,12 @@ virtual class IncrementalFixedLagSmoother : gtsam::FixedLagSmoother {
IncrementalFixedLagSmoother(double smootherLag); IncrementalFixedLagSmoother(double smootherLag);
IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& params); IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& params);
void print(string s = "IncrementalFixedLagSmoother:\n") const;
gtsam::ISAM2Params params() const; gtsam::ISAM2Params params() const;
gtsam::NonlinearFactorGraph getFactors() const; gtsam::NonlinearFactorGraph getFactors() const;
gtsam::ISAM2 getISAM2() const;
}; };
#include <gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h> #include <gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h>

3
gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h
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@ -113,6 +113,9 @@ public:
/// Get results of latest isam2 update /// Get results of latest isam2 update
const ISAM2Result& getISAM2Result() const{ return isamResult_; } const ISAM2Result& getISAM2Result() const{ return isamResult_; }
/// Get the iSAM2 object which is used for the inference internally
const ISAM2& getISAM2() const { return isam_; }
protected: protected:
/** Create default parameters */ /** Create default parameters */