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Add EliminateQR to Python

release/4.3a0
Fan Jiang 2024-05-29 15:26:55 -04:00
parent 42b27e4484
commit 760b799ed8
1 changed files with 30 additions and 6 deletions
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36
gtsam/linear/linear.i
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@ -127,7 +127,7 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base {
}; };
virtual class Cauchy: gtsam::noiseModel::mEstimator::Base { virtual class Cauchy: gtsam::noiseModel::mEstimator::Base {
Cauchy(double k); Cauchy(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::Cauchy* Create(double k); static gtsam::noiseModel::mEstimator::Cauchy* Create(double k);
// enabling serialization functionality // enabling serialization functionality
@ -138,7 +138,7 @@ virtual class Cauchy: gtsam::noiseModel::mEstimator::Base {
}; };
virtual class Tukey: gtsam::noiseModel::mEstimator::Base { virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
Tukey(double k); Tukey(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::Tukey* Create(double k); static gtsam::noiseModel::mEstimator::Tukey* Create(double k);
// enabling serialization functionality // enabling serialization functionality
@ -149,7 +149,7 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
}; };
virtual class Welsch: gtsam::noiseModel::mEstimator::Base { virtual class Welsch: gtsam::noiseModel::mEstimator::Base {
Welsch(double k); Welsch(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::Welsch* Create(double k); static gtsam::noiseModel::mEstimator::Welsch* Create(double k);
// enabling serialization functionality // enabling serialization functionality
@ -160,7 +160,7 @@ virtual class Welsch: gtsam::noiseModel::mEstimator::Base {
}; };
virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base { virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base {
GemanMcClure(double c); GemanMcClure(double c, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::GemanMcClure* Create(double c); static gtsam::noiseModel::mEstimator::GemanMcClure* Create(double c);
// enabling serialization functionality // enabling serialization functionality
@ -171,7 +171,7 @@ virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base {
}; };
virtual class DCS: gtsam::noiseModel::mEstimator::Base { virtual class DCS: gtsam::noiseModel::mEstimator::Base {
DCS(double c); DCS(double c, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::DCS* Create(double c); static gtsam::noiseModel::mEstimator::DCS* Create(double c);
// enabling serialization functionality // enabling serialization functionality
@ -182,7 +182,7 @@ virtual class DCS: gtsam::noiseModel::mEstimator::Base {
}; };
virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base { virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base {
L2WithDeadZone(double k); L2WithDeadZone(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::L2WithDeadZone* Create(double k); static gtsam::noiseModel::mEstimator::L2WithDeadZone* Create(double k);
// enabling serialization functionality // enabling serialization functionality
@ -203,6 +203,28 @@ virtual class AsymmetricTukey: gtsam::noiseModel::mEstimator::Base {
double loss(double error) const; double loss(double error) const;
}; };
virtual class AsymmetricCauchy: gtsam::noiseModel::mEstimator::Base {
AsymmetricCauchy(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::AsymmetricCauchy* Create(double k);
// enabling serialization functionality
void serializable() const;
double weight(double error) const;
double loss(double error) const;
};
virtual class TwoSidedHuberCauchy: gtsam::noiseModel::mEstimator::Base {
TwoSidedHuberCauchy(double k, double k_huber, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::TwoSidedHuberCauchy* Create(double k);
// enabling serialization functionality
void serializable() const;
double weight(double error) const;
double loss(double error) const;
};
virtual class Custom: gtsam::noiseModel::mEstimator::Base { virtual class Custom: gtsam::noiseModel::mEstimator::Base {
Custom(gtsam::noiseModel::mEstimator::CustomWeightFunction weight, Custom(gtsam::noiseModel::mEstimator::CustomWeightFunction weight,
gtsam::noiseModel::mEstimator::CustomLossFunction loss, gtsam::noiseModel::mEstimator::CustomLossFunction loss,
@ -356,6 +378,8 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
void serialize() const; void serialize() const;
}; };
pair<gtsam::GaussianConditional, gtsam::JacobianFactor*> EliminateQR(const gtsam::GaussianFactorGraph& factors, const gtsam::Ordering& keys);
#include <gtsam/linear/HessianFactor.h> #include <gtsam/linear/HessianFactor.h>
virtual class HessianFactor : gtsam::GaussianFactor { virtual class HessianFactor : gtsam::GaussianFactor {
//Constructors //Constructors