From a025b377ecc50c421274be229514e2cc4fe19ec5 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 7 Aug 2012 18:21:35 +0000 Subject: [PATCH] Added full Values interface --- gtsam.h | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/gtsam.h b/gtsam.h index df7bdda44..0fd782309 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1099,14 +1099,34 @@ virtual class NonlinearFactor { // gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen }; +#include class Values { Values(); + Values(const gtsam::Values& other); + size_t size() const; + bool empty() const; + void clear(); + size_t dim() const; + void print(string s) const; + bool equals(const gtsam::Values& other, double tol) const; + void insert(size_t j, const gtsam::Value& value); + void insert(const gtsam::Values& values); + void update(size_t j, const gtsam::Value& val); + void update(const gtsam::Values& values); + void erase(size_t j); + bool exists(size_t j) const; gtsam::Value at(size_t j) const; gtsam::KeyList keys() const; + + gtsam::VectorValues zeroVectors(const gtsam::Ordering& ordering) const; + + gtsam::Values retract(const gtsam::VectorValues& delta, const gtsam::Ordering& ordering) const; + gtsam::VectorValues localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering) const; + void localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering, gtsam::VectorValues& delta) const; }; // Actually a FastList