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Merge pull request #1743 from borglab/updates 

Some Updates
release/4.3a0
Frank Dellaert 2024-06-10 15:14:20 -07:00 committed by GitHub
parent d26963add5 8333c25dab
commit a0870fc736
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GPG Key ID: B5690EEEBB952194
5 changed files with 12 additions and 6 deletions
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3
gtsam/discrete/discrete.i
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@ -104,6 +104,9 @@ virtual class DiscreteConditional : gtsam::DecisionTreeFactor {
DiscreteConditional(const gtsam::DecisionTreeFactor& joint,
const gtsam::DecisionTreeFactor& marginal,
const gtsam::Ordering& orderedKeys);
DiscreteConditional(const gtsam::DiscreteKey& key,
const gtsam::DiscreteKeys& parents,
const std::vector<double>& table);
// Standard interface
double logNormalizationConstant() const;

2
gtsam/hybrid/GaussianMixtureFactor.cpp
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@ -66,7 +66,7 @@ void GaussianMixtureFactor::print(const std::string &s,
[&](const sharedFactor &gf) -> std::string {
RedirectCout rd;
std::cout << ":\n";
if (gf && !gf->empty()) {
if (gf) {
gf->print("", formatter);
return rd.str();
} else {

5
gtsam/hybrid/hybrid.i
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@ -92,7 +92,10 @@ class GaussianMixture : gtsam::HybridFactor {
const std::vector<gtsam::GaussianConditional::shared_ptr>&
conditionalsList);
gtsam::GaussianMixtureFactor* likelihood(const gtsam::VectorValues &frontals) const;
gtsam::GaussianMixtureFactor* likelihood(
const gtsam::VectorValues& frontals) const;
double logProbability(const gtsam::HybridValues& values) const;
double evaluate(const gtsam::HybridValues& values) const;
void print(string s = "GaussianMixture\n",
const gtsam::KeyFormatter& keyFormatter =

2
gtsam/linear/linear.i
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@ -489,7 +489,7 @@ virtual class GaussianConditional : gtsam::JacobianFactor {
GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
size_t name2, Matrix T,
const gtsam::noiseModel::Diagonal* sigmas);
GaussianConditional(const vector<std::pair<gtsam::Key, Matrix>> terms,
GaussianConditional(const std::vector<std::pair<gtsam::Key, Matrix>> terms,
size_t nrFrontals, Vector d,
const gtsam::noiseModel::Diagonal* sigmas);

2
gtsam/slam/README.md
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@ -63,6 +63,6 @@ A RegularJacobianFactor that uses some badly documented reduction on the Jacobia
A RegularJacobianFactor that eliminates a point using sequential elimination.
### JacobianFactorQR
### JacobianFactorSVD
A RegularJacobianFactor that uses the "Nullspace Trick" by Mourikis et al. See the documentation in the file, which *is* well documented.