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Wrap some properties of ISAM2Params to python

release/4.3a0
Ellon Mendes 2015-11-24 11:30:35 +01:00
parent cba6085557
commit 92bfcaa004
1 changed files with 15 additions and 0 deletions
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15
python/handwritten/nonlinear/ISAM2.cpp
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@ -30,6 +30,21 @@ void exportISAM2(){
// TODO(Ellon): Export all properties of ISAM2Params
class_<ISAM2Params>("ISAM2Params")
.add_property("relinearize_skip", &ISAM2Params::getRelinearizeSkip, &ISAM2Params::setRelinearizeSkip)
.add_property("enable_relinearization", &ISAM2Params::isEnableRelinearization, &ISAM2Params::setEnableRelinearization)
.add_property("evaluate_non_linear_error", &ISAM2Params::isEvaluateNonlinearError, &ISAM2Params::setEvaluateNonlinearError)
.add_property("factorization", &ISAM2Params::getFactorization, &ISAM2Params::setFactorization)
.add_property("cache_linearized_factors", &ISAM2Params::isCacheLinearizedFactors, &ISAM2Params::setCacheLinearizedFactors)
.add_property("enable_detailed_results", &ISAM2Params::isEnableDetailedResults, &ISAM2Params::setEnableDetailedResults)
.add_property("enable_partial_linearization_check", &ISAM2Params::isEnablePartialRelinearizationCheck, &ISAM2Params::setEnablePartialRelinearizationCheck)
// TODO(Ellon): Check if it works with FastMap; Implement properly if it doesn't.
.add_property("relinearization_threshold", &ISAM2Params::getRelinearizeThreshold, &ISAM2Params::setRelinearizeThreshold)
// TODO(Ellon): Wrap the following setters/getters:
// void setOptimizationParams (OptimizationParams optimizationParams)
// OptimizationParams getOptimizationParams () const
// void setKeyFormatter (KeyFormatter keyFormatter)
// KeyFormatter getKeyFormatter () const
// GaussianFactorGraph::Eliminate getEliminationFunction () const
;
// TODO(Ellon): Export useful methods/properties of ISAM2Result