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fix templating TODOs

release/4.3a0
Varun Agrawal 2023-06-16 10:38:31 -04:00
parent 2340f1aa09
commit 80a052d048
4 changed files with 15 additions and 43 deletions
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4
gtsam/geometry/geometry.i
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@ -1181,8 +1181,8 @@ class TriangulationParameters {
const gtsam::SharedNoiseModel& noiseModel = nullptr); const gtsam::SharedNoiseModel& noiseModel = nullptr);
}; };
// Templates appear not yet supported for free functions - issue raised at // Can be templated but overloaded for convenience.
// borglab/wrap#14 to add support // We can now call `triangulatePoint3` with any template type.
// Cal3_S2 versions // Cal3_S2 versions
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses, gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,

10
gtsam/inference/inference.i
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@ -176,13 +176,9 @@ class DotWriter {
class VariableIndex { class VariableIndex {
// Standard Constructors and Named Constructors // Standard Constructors and Named Constructors
VariableIndex(); VariableIndex();
// TODO: Templetize constructor when wrap supports it template <T = {gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph,
// template<T = {gtsam::FactorGraph}> gtsam::NonlinearFactorGraph}>
// VariableIndex(const T& factorGraph, size_t nVariables); VariableIndex(const T& factorGraph);
// VariableIndex(const T& factorGraph);
VariableIndex(const gtsam::SymbolicFactorGraph& sfg);
VariableIndex(const gtsam::GaussianFactorGraph& gfg);
VariableIndex(const gtsam::NonlinearFactorGraph& fg);
VariableIndex(const gtsam::VariableIndex& other); VariableIndex(const gtsam::VariableIndex& other);
// Testable // Testable

43
gtsam/sfm/sfm.i
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@ -126,39 +126,16 @@ class BinaryMeasurementsRot3 {
#include <gtsam/slam/dataset.h> #include <gtsam/slam/dataset.h>
#include <gtsam/sfm/ShonanAveraging.h> #include <gtsam/sfm/ShonanAveraging.h>
// TODO(frank): copy/pasta below until we have integer template parameters in template <d={2, 3}>
// wrap! class ShonanAveragingParameters {
ShonanAveragingParameters(const gtsam::LevenbergMarquardtParams& lm);
class ShonanAveragingParameters2 { ShonanAveragingParameters(const gtsam::LevenbergMarquardtParams& lm,
ShonanAveragingParameters2(const gtsam::LevenbergMarquardtParams& lm);
ShonanAveragingParameters2(const gtsam::LevenbergMarquardtParams& lm,
string method); string method);
gtsam::LevenbergMarquardtParams getLMParams() const; gtsam::LevenbergMarquardtParams getLMParams() const;
void setOptimalityThreshold(double value); void setOptimalityThreshold(double value);
double getOptimalityThreshold() const; double getOptimalityThreshold() const;
void setAnchor(size_t index, const gtsam::Rot2& value); void setAnchor(size_t index, const gtsam::This::Rot& value);
pair<size_t, gtsam::Rot2> getAnchor(); pair<size_t, gtsam::This::Rot> getAnchor();
void setAnchorWeight(double value);
double getAnchorWeight() const;
void setKarcherWeight(double value);
double getKarcherWeight() const;
void setGaugesWeight(double value);
double getGaugesWeight() const;
void setUseHuber(bool value);
bool getUseHuber() const;
void setCertifyOptimality(bool value);
bool getCertifyOptimality() const;
};
class ShonanAveragingParameters3 {
ShonanAveragingParameters3(const gtsam::LevenbergMarquardtParams& lm);
ShonanAveragingParameters3(const gtsam::LevenbergMarquardtParams& lm,
string method);
gtsam::LevenbergMarquardtParams getLMParams() const;
void setOptimalityThreshold(double value);
double getOptimalityThreshold() const;
void setAnchor(size_t index, const gtsam::Rot3& value);
pair<size_t, gtsam::Rot3> getAnchor();
void setAnchorWeight(double value); void setAnchorWeight(double value);
double getAnchorWeight() const; double getAnchorWeight() const;
void setKarcherWeight(double value); void setKarcherWeight(double value);
@ -171,6 +148,7 @@ class ShonanAveragingParameters3 {
bool getCertifyOptimality() const; bool getCertifyOptimality() const;
}; };
// NOTE(Varun): Not templated because each class has specializations defined.
class ShonanAveraging2 { class ShonanAveraging2 {
ShonanAveraging2(string g2oFile); ShonanAveraging2(string g2oFile);
ShonanAveraging2(string g2oFile, ShonanAveraging2(string g2oFile,
@ -217,10 +195,9 @@ class ShonanAveraging2 {
}; };
class ShonanAveraging3 { class ShonanAveraging3 {
ShonanAveraging3( ShonanAveraging3(const gtsam::This::Measurements& measurements,
const std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>& measurements, const gtsam::ShonanAveragingParameters3& parameters =
const gtsam::ShonanAveragingParameters3& parameters = gtsam::ShonanAveragingParameters3());
gtsam::ShonanAveragingParameters3());
ShonanAveraging3(string g2oFile); ShonanAveraging3(string g2oFile);
ShonanAveraging3(string g2oFile, ShonanAveraging3(string g2oFile,
const gtsam::ShonanAveragingParameters3& parameters); const gtsam::ShonanAveragingParameters3& parameters);

1
timing/timeTest.cpp
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@ -21,7 +21,6 @@ using namespace gtsam;
int main(int argc, char *argv[]) { int main(int argc, char *argv[]) {
// FIXME: ticPush_ does not exist
{ {
gttic_(top1); gttic_(top1);
gttic_(sub1); gttic_(sub1);