unify gtsam.h for matlab and cython wrapper
Duy-Nguyen Ta
parent
6148f822ae
commit
a6281e1932
2716
cython/gtsam.h
2716
cython/gtsam.h
File diff suppressed because it is too large
Load Diff
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@ -25,7 +25,7 @@ class Point2 {
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Point2();
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Point2(double x, double y);
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Point2(Vector v);
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Point2(const gtsam::Point2& l);
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//Point2(const gtsam::Point2& l);
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// Testable
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void print(string s) const;
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@ -51,7 +51,7 @@ class Point3 {
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Point3();
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Point3(double x, double y, double z);
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Point3(Vector v);
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Point3(const gtsam::Point3& l);
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//Point3(const gtsam::Point3& l);
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// Testable
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void print(string s) const;
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@ -75,7 +75,7 @@ class Rot2 {
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// Standard Constructors and Named Constructors
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Rot2();
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Rot2(double theta);
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Rot2(const gtsam::Rot2& l);
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//Rot2(const gtsam::Rot2& l);
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static gtsam::Rot2 fromAngle(double theta);
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static gtsam::Rot2 fromDegrees(double theta);
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@ -121,7 +121,7 @@ class Rot3 {
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// Standard Constructors and Named Constructors
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Rot3();
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Rot3(Matrix R);
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Rot3(const gtsam::Rot3& l);
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//Rot3(const gtsam::Rot3& l);
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static gtsam::Rot3 Rx(double t);
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static gtsam::Rot3 Ry(double t);
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@ -177,7 +177,7 @@ class Rot3 {
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class Pose2 {
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// Standard Constructor
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Pose2();
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Pose2(const gtsam::Pose2& pose);
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//Pose2(const gtsam::Pose2& pose);
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Pose2(double x, double y, double theta);
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Pose2(double theta, const gtsam::Point2& t);
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Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
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@ -227,7 +227,7 @@ class Pose2 {
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class Pose3 {
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// Standard Constructors
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Pose3();
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Pose3(const gtsam::Pose3& pose);
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//Pose3(const gtsam::Pose3& pose);
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Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
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Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
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Pose3(Matrix t);
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@ -344,7 +344,7 @@ virtual class Base {
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virtual class Null: gtsam::noiseModel::mEstimator::Base {
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Null();
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Null(const gtsam::noiseModel::mEstimator::Null& other);
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//Null(const gtsam::noiseModel::mEstimator::Null& other);
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void print(string s) const;
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static gtsam::noiseModel::mEstimator::Null* Create();
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@ -354,7 +354,7 @@ virtual class Null: gtsam::noiseModel::mEstimator::Base {
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virtual class Fair: gtsam::noiseModel::mEstimator::Base {
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Fair(double c);
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Fair(const gtsam::noiseModel::mEstimator::Fair& other);
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//Fair(const gtsam::noiseModel::mEstimator::Fair& other);
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void print(string s) const;
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static gtsam::noiseModel::mEstimator::Fair* Create(double c);
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@ -364,7 +364,7 @@ virtual class Fair: gtsam::noiseModel::mEstimator::Base {
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virtual class Huber: gtsam::noiseModel::mEstimator::Base {
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Huber(double k);
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Huber(const gtsam::noiseModel::mEstimator::Huber& other);
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//Huber(const gtsam::noiseModel::mEstimator::Huber& other);
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void print(string s) const;
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static gtsam::noiseModel::mEstimator::Huber* Create(double k);
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@ -375,7 +375,7 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base {
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virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
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Tukey(double k);
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Tukey(const gtsam::noiseModel::mEstimator::Tukey& other);
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//Tukey(const gtsam::noiseModel::mEstimator::Tukey& other);
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void print(string s) const;
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static gtsam::noiseModel::mEstimator::Tukey* Create(double k);
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@ -388,7 +388,7 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
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virtual class Robust : gtsam::noiseModel::Base {
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Robust(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
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Robust(const gtsam::noiseModel::Robust& other);
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//Robust(const gtsam::noiseModel::Robust& other);
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static gtsam::noiseModel::Robust* Create(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
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void print(string s) const;
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@ -405,7 +405,7 @@ class Sampler {
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Sampler(gtsam::noiseModel::Diagonal* model, int seed);
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Sampler(Vector sigmas, int seed);
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Sampler(int seed);
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Sampler(const gtsam::Sampler& other);
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//Sampler(const gtsam::Sampler& other);
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//Standard Interface
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@ -483,7 +483,7 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
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JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
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Vector b, const gtsam::noiseModel::Diagonal* model);
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//JacobianFactor(const gtsam::GaussianFactorGraph& graph);
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JacobianFactor(const gtsam::JacobianFactor& other);
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//JacobianFactor(const gtsam::JacobianFactor& other);
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//Testable
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void print(string s) const;
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@ -529,7 +529,7 @@ virtual class HessianFactor : gtsam::GaussianFactor {
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Vector g1, Matrix G22, Matrix G23, Vector g2, Matrix G33, Vector g3,
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double f);
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//HessianFactor(const gtsam::GaussianFactorGraph& factors);
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HessianFactor(const gtsam::HessianFactor& other);
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//HessianFactor(const gtsam::HessianFactor& other);
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//Testable
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size_t size() const;
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@ -551,7 +551,7 @@ virtual class HessianFactor : gtsam::GaussianFactor {
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#include <gtsam/nonlinear/Values.h>
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class Values {
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Values();
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Values(const gtsam::Values& other);
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//Values(const gtsam::Values& other);
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size_t size() const;
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bool empty() const;
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@ -638,7 +638,7 @@ virtual class NonlinearFactor {
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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class NonlinearFactorGraph {
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NonlinearFactorGraph();
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NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph);
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//NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph);
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// FactorGraph
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void print(string s) const;
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@ -679,7 +679,7 @@ virtual class NoiseModelFactor: gtsam::NonlinearFactor {
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template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
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virtual class PriorFactor : gtsam::NoiseModelFactor {
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PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
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PriorFactor(const This& other);
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//PriorFactor(const This& other);
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T prior() const;
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// enabling serialization functionality
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@ -691,7 +691,7 @@ virtual class PriorFactor : gtsam::NoiseModelFactor {
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template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
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virtual class BetweenFactor : gtsam::NoiseModelFactor {
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BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
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BetweenFactor(const This& other);
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//BetweenFactor(const This& other);
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T measured() const;
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// enabling serialization functionality
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282
gtsam.h
282
gtsam.h
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@ -89,6 +89,18 @@
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* - Add "void serializable()" to a class if you only want the class to be serialized as a
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* part of a container (such as noisemodel). This version does not require a publicly
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* accessible default constructor.
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* Forward declarations and class definitions for Cython:
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* - Need to specify the base class (both this forward class and base class are declared in an external cython header)
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* This is so Cython can generate proper inheritance.
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* Example when wrapping a gtsam-based project:
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* // forward declarations
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* virtual class gtsam::NonlinearFactor
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* virtual class gtsam::NoiseModelFactor : gtsam::NonlinearFactor
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* // class definition
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* #include <MyFactor.h>
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* virtual class MyFactor : gtsam::NoiseModelFactor {...};
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* - *DO NOT* re-define overriden function already declared in the external (forward-declared) base class
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* - This will cause an ambiguity problem in Cython pxd header file
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*/
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/**
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@ -102,51 +114,106 @@
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* - TODO: Add generalized serialization support via boost.serialization with hooks to matlab save/load
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*/
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namespace std {
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#include <vector>
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template<T>
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class vector
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{
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//Do we need these?
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//Capacity
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/*size_t size() const;
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size_t max_size() const;
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//void resize(size_t sz);
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size_t capacity() const;
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bool empty() const;
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void reserve(size_t n);
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//Element access
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T* at(size_t n);
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T* front();
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T* back();
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//Modifiers
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void assign(size_t n, const T& u);
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void push_back(const T& x);
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void pop_back();*/
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};
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//typedef std::vector
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#include<list>
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template<T>
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class list
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{
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};
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}
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namespace gtsam {
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// Actually a FastList<Key>
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#include <gtsam/inference/Key.h>
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class KeyList {
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KeyList();
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KeyList(const gtsam::KeyList& other);
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// Note: no print function
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// common STL methods
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size_t size() const;
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bool empty() const;
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void clear();
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// structure specific methods
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size_t front() const;
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size_t back() const;
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void push_back(size_t key);
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void push_front(size_t key);
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void pop_back();
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void pop_front();
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void sort();
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void remove(size_t key);
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void serialize() const;
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};
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// Actually a FastSet<Key>
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class KeySet {
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KeySet();
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KeySet(const gtsam::KeySet& other);
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KeySet(const gtsam::KeyVector& other);
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KeySet(const gtsam::KeyList& other);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::KeySet& other) const;
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// common STL methods
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size_t size() const;
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bool empty() const;
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void clear();
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// structure specific methods
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void insert(size_t key);
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void merge(gtsam::KeySet& other);
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bool erase(size_t key); // returns true if value was removed
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bool count(size_t key) const; // returns true if value exists
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void serialize() const;
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};
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// Actually a vector<Key>
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class KeyVector {
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KeyVector();
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KeyVector(const gtsam::KeyVector& other);
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// Note: no print function
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// common STL methods
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size_t size() const;
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bool empty() const;
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void clear();
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// structure specific methods
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size_t at(size_t i) const;
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size_t front() const;
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size_t back() const;
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void push_back(size_t key) const;
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void serialize() const;
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};
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// Actually a FastMap<Key,int>
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class KeyGroupMap {
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KeyGroupMap();
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// Note: no print function
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// common STL methods
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size_t size() const;
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bool empty() const;
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void clear();
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// structure specific methods
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size_t at(size_t key) const;
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int erase(size_t key);
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bool insert2(size_t key, int val);
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};
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//*************************************************************************
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// base
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//*************************************************************************
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/** gtsam namespace functions */
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#include <gtsam/base/Matrix.h>
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bool linear_independent(Matrix A, Matrix B, double tol);
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#include <gtsam/base/Value.h>
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virtual class Value {
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// No constructors because this is an abstract class
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@ -254,6 +321,7 @@ class LieMatrix {
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// geometry
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//*************************************************************************
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#include <gtsam/geometry/Point2.h>
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class Point2 {
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// Standard Constructors
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Point2();
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@ -262,7 +330,7 @@ class Point2 {
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Point2& pose, double tol) const;
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bool equals(const gtsam::Point2& point, double tol) const;
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// Group
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static gtsam::Point2 identity();
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@ -279,6 +347,7 @@ class Point2 {
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};
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// std::vector<gtsam::Point2>
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#include <gtsam/geometry/Point2.h>
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class Point2Vector
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{
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// Constructors
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@ -304,6 +373,7 @@ class Point2Vector
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void pop_back();
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};
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#include <gtsam/geometry/StereoPoint2.h>
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class StereoPoint2 {
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// Standard Constructors
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StereoPoint2();
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@ -337,6 +407,7 @@ class StereoPoint2 {
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void serialize() const;
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};
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#include <gtsam/geometry/Point3.h>
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class Point3 {
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// Standard Constructors
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Point3();
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@ -360,6 +431,7 @@ class Point3 {
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void serialize() const;
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};
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#include <gtsam/geometry/Rot2.h>
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class Rot2 {
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// Standard Constructors and Named Constructors
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Rot2();
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@ -403,6 +475,7 @@ class Rot2 {
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void serialize() const;
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};
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#include <gtsam/geometry/Rot3.h>
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class Rot3 {
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// Standard Constructors and Named Constructors
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Rot3();
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@ -457,10 +530,11 @@ class Rot3 {
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void serialize() const;
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};
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#include <gtsam/geometry/Pose2.h>
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class Pose2 {
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// Standard Constructor
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Pose2();
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Pose2(const gtsam::Pose2& pose);
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Pose2(const gtsam::Pose2& other);
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Pose2(double x, double y, double theta);
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Pose2(double theta, const gtsam::Point2& t);
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Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
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@ -505,10 +579,11 @@ class Pose2 {
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void serialize() const;
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};
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#include <gtsam/geometry/Pose3.h>
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class Pose3 {
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// Standard Constructors
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Pose3();
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Pose3(const gtsam::Pose3& pose);
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Pose3(const gtsam::Pose3& other);
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Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
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Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
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Pose3(Matrix t);
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@ -554,6 +629,7 @@ class Pose3 {
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};
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// std::vector<gtsam::Pose3>
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#include <gtsam/geometry/Pose3.h>
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class Pose3Vector
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{
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Pose3Vector();
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@ -606,6 +682,7 @@ class EssentialMatrix {
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double error(Vector vA, Vector vB);
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};
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#include <gtsam/geometry/Cal3_S2.h>
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class Cal3_S2 {
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// Standard Constructors
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Cal3_S2();
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@ -662,7 +739,6 @@ virtual class Cal3DS2_Base {
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// Action on Point2
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gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
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gtsam::Point2 calibrate(const gtsam::Point2& p, double tol) const;
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gtsam::Point2 calibrate(const gtsam::Point2& p) const;
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// enabling serialization functionality
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void serialize() const;
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@ -754,7 +830,6 @@ class Cal3Bundler {
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// Action on Point2
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gtsam::Point2 calibrate(const gtsam::Point2& p, double tol) const;
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gtsam::Point2 calibrate(const gtsam::Point2& p) const;
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gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
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// Standard Interface
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@ -772,6 +847,7 @@ class Cal3Bundler {
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void serialize() const;
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};
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#include <gtsam/geometry/CalibratedCamera.h>
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class CalibratedCamera {
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// Standard Constructors and Named Constructors
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CalibratedCamera();
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@ -801,6 +877,7 @@ class CalibratedCamera {
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void serialize() const;
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};
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#include <gtsam/geometry/PinholeCamera.h>
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template<CALIBRATION>
|
||||
class PinholeCamera {
|
||||
// Standard Constructors and Named Constructors
|
||||
|
|
@ -838,6 +915,7 @@ class PinholeCamera {
|
|||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/SimpleCamera.h>
|
||||
virtual class SimpleCamera {
|
||||
// Standard Constructors and Named Constructors
|
||||
SimpleCamera();
|
||||
|
|
@ -882,6 +960,7 @@ typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
|
|||
typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
|
||||
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
|
||||
|
||||
#include <gtsam/geometry/StereoCamera.h>
|
||||
class StereoCamera {
|
||||
// Standard Constructors and Named Constructors
|
||||
StereoCamera();
|
||||
|
|
@ -959,7 +1038,6 @@ virtual class SymbolicFactorGraph {
|
|||
|
||||
// Standard interface
|
||||
gtsam::KeySet keys() const;
|
||||
void push_back(gtsam::SymbolicFactor* factor);
|
||||
void push_back(const gtsam::SymbolicFactorGraph& graph);
|
||||
void push_back(const gtsam::SymbolicBayesNet& bayesNet);
|
||||
void push_back(const gtsam::SymbolicBayesTree& bayesTree);
|
||||
|
|
@ -1034,14 +1112,14 @@ class SymbolicBayesTree {
|
|||
|
||||
//Constructors
|
||||
SymbolicBayesTree();
|
||||
SymbolicBayesTree(const gtsam::SymbolicBayesTree& other);
|
||||
SymbolicBayesTree(const gtsam::SymbolicBayesTree& other);
|
||||
|
||||
// Testable
|
||||
void print(string s);
|
||||
bool equals(const gtsam::SymbolicBayesTree& other, double tol) const;
|
||||
|
||||
//Standard Interface
|
||||
//size_t findParentClique(const gtsam::IndexVector& parents) const;
|
||||
//size_t findParentClique(const gtsam::IndexVector& parents) const;
|
||||
size_t size();
|
||||
void saveGraph(string s) const;
|
||||
void clear();
|
||||
|
|
@ -1496,7 +1574,7 @@ virtual class GaussianBayesNet {
|
|||
size_t size() const;
|
||||
|
||||
// FactorGraph derived interface
|
||||
size_t size() const;
|
||||
// size_t size() const;
|
||||
gtsam::GaussianConditional* at(size_t idx) const;
|
||||
gtsam::KeySet keys() const;
|
||||
bool exists(size_t idx) const;
|
||||
|
|
@ -1543,6 +1621,7 @@ virtual class GaussianBayesTree {
|
|||
gtsam::GaussianBayesNet* jointBayesNet(size_t key1, size_t key2) const;
|
||||
};
|
||||
|
||||
#include <gtsam/linear/Errors.h>
|
||||
class Errors {
|
||||
//Constructors
|
||||
Errors();
|
||||
|
|
@ -1553,6 +1632,7 @@ class Errors {
|
|||
bool equals(const gtsam::Errors& expected, double tol) const;
|
||||
};
|
||||
|
||||
#include <gtsam/linear/GaussianISAM.h>
|
||||
class GaussianISAM {
|
||||
//Constructor
|
||||
GaussianISAM();
|
||||
|
|
@ -1589,7 +1669,7 @@ virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParamete
|
|||
void setReset(int value);
|
||||
void setEpsilon_rel(double value);
|
||||
void setEpsilon_abs(double value);
|
||||
void print();
|
||||
void print() const;
|
||||
};
|
||||
|
||||
#include <gtsam/linear/SubgraphSolver.h>
|
||||
|
|
@ -1683,6 +1763,7 @@ class Ordering {
|
|||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
||||
class NonlinearFactorGraph {
|
||||
NonlinearFactorGraph();
|
||||
NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph);
|
||||
|
|
@ -1713,6 +1794,7 @@ class NonlinearFactorGraph {
|
|||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
virtual class NonlinearFactor {
|
||||
// Factor base class
|
||||
size_t size() const;
|
||||
|
|
@ -1720,7 +1802,7 @@ virtual class NonlinearFactor {
|
|||
void print(string s) const;
|
||||
void printKeys(string s) const;
|
||||
// NonlinearFactor
|
||||
void equals(const gtsam::NonlinearFactor& other, double tol) const;
|
||||
bool equals(const gtsam::NonlinearFactor& other, double tol) const;
|
||||
double error(const gtsam::Values& c) const;
|
||||
size_t dim() const;
|
||||
bool active(const gtsam::Values& c) const;
|
||||
|
|
@ -1729,8 +1811,9 @@ virtual class NonlinearFactor {
|
|||
// gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
virtual class NoiseModelFactor: gtsam::NonlinearFactor {
|
||||
void equals(const gtsam::NoiseModelFactor& other, double tol) const;
|
||||
bool equals(const gtsam::NoiseModelFactor& other, double tol) const;
|
||||
gtsam::noiseModel::Base* get_noiseModel() const; // deprecated by below
|
||||
gtsam::noiseModel::Base* noiseModel() const;
|
||||
Vector unwhitenedError(const gtsam::Values& x) const;
|
||||
|
|
@ -1809,95 +1892,6 @@ class Values {
|
|||
double atDouble(size_t j) const;
|
||||
};
|
||||
|
||||
// Actually a FastList<Key>
|
||||
#include <gtsam/inference/Key.h>
|
||||
class KeyList {
|
||||
KeyList();
|
||||
KeyList(const gtsam::KeyList& other);
|
||||
|
||||
// Note: no print function
|
||||
|
||||
// common STL methods
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void clear();
|
||||
|
||||
// structure specific methods
|
||||
size_t front() const;
|
||||
size_t back() const;
|
||||
void push_back(size_t key);
|
||||
void push_front(size_t key);
|
||||
void pop_back();
|
||||
void pop_front();
|
||||
void sort();
|
||||
void remove(size_t key);
|
||||
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
// Actually a FastSet<Key>
|
||||
class KeySet {
|
||||
KeySet();
|
||||
KeySet(const gtsam::KeySet& other);
|
||||
KeySet(const gtsam::KeyVector& other);
|
||||
KeySet(const gtsam::KeyList& other);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::KeySet& other) const;
|
||||
|
||||
// common STL methods
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void clear();
|
||||
|
||||
// structure specific methods
|
||||
void insert(size_t key);
|
||||
void merge(gtsam::KeySet& other);
|
||||
bool erase(size_t key); // returns true if value was removed
|
||||
bool count(size_t key) const; // returns true if value exists
|
||||
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
// Actually a vector<Key>
|
||||
class KeyVector {
|
||||
KeyVector();
|
||||
KeyVector(const gtsam::KeyVector& other);
|
||||
|
||||
// Note: no print function
|
||||
|
||||
// common STL methods
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void clear();
|
||||
|
||||
// structure specific methods
|
||||
size_t at(size_t i) const;
|
||||
size_t front() const;
|
||||
size_t back() const;
|
||||
void push_back(size_t key) const;
|
||||
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
// Actually a FastMap<Key,int>
|
||||
class KeyGroupMap {
|
||||
KeyGroupMap();
|
||||
|
||||
// Note: no print function
|
||||
|
||||
// common STL methods
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void clear();
|
||||
|
||||
// structure specific methods
|
||||
size_t at(size_t key) const;
|
||||
int erase(size_t key);
|
||||
bool insert2(size_t key, int val);
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/Marginals.h>
|
||||
class Marginals {
|
||||
Marginals(const gtsam::NonlinearFactorGraph& graph,
|
||||
|
|
@ -1954,8 +1948,6 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor {
|
|||
//*************************************************************************
|
||||
// Nonlinear optimizers
|
||||
//*************************************************************************
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearOptimizer.h>
|
||||
#include <gtsam/nonlinear/NonlinearOptimizerParams.h>
|
||||
virtual class NonlinearOptimizerParams {
|
||||
NonlinearOptimizerParams();
|
||||
|
|
@ -2020,6 +2012,7 @@ virtual class DoglegParams : gtsam::NonlinearOptimizerParams {
|
|||
void setVerbosityDL(string verbosityDL) const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearOptimizer.h>
|
||||
virtual class NonlinearOptimizer {
|
||||
gtsam::Values optimize();
|
||||
gtsam::Values optimizeSafely();
|
||||
|
|
@ -2029,17 +2022,20 @@ virtual class NonlinearOptimizer {
|
|||
void iterate() const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
|
||||
virtual class GaussNewtonOptimizer : gtsam::NonlinearOptimizer {
|
||||
GaussNewtonOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues);
|
||||
GaussNewtonOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::GaussNewtonParams& params);
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/DoglegOptimizer.h>
|
||||
virtual class DoglegOptimizer : gtsam::NonlinearOptimizer {
|
||||
DoglegOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues);
|
||||
DoglegOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::DoglegParams& params);
|
||||
double getDelta() const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
|
||||
virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer {
|
||||
LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues);
|
||||
LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::LevenbergMarquardtParams& params);
|
||||
|
|
@ -2163,7 +2159,11 @@ class ISAM2 {
|
|||
|
||||
gtsam::Values getLinearizationPoint() const;
|
||||
gtsam::Values calculateEstimate() const;
|
||||
gtsam::Value calculateEstimate(size_t key) const;
|
||||
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
|
||||
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
|
||||
gtsam::Cal3Bundler, gtsam::EssentialMatrix,
|
||||
gtsam::SimpleCamera, Vector, Matrix}>
|
||||
VALUE calculateEstimate(size_t key) const;
|
||||
gtsam::Values calculateBestEstimate() const;
|
||||
Matrix marginalCovariance(size_t key) const;
|
||||
gtsam::VectorValues getDelta() const;
|
||||
|
|
@ -2493,6 +2493,7 @@ virtual class PreintegrationParams : gtsam::PreintegratedRotationParams {
|
|||
Matrix getAccelerometerCovariance() const;
|
||||
Matrix getIntegrationCovariance() const;
|
||||
bool getUse2ndOrderCoriolis() const;
|
||||
void print(string s) const;
|
||||
};
|
||||
|
||||
#include <gtsam/navigation/ImuFactor.h>
|
||||
|
|
@ -2570,7 +2571,6 @@ virtual class CombinedImuFactor: gtsam::NonlinearFactor {
|
|||
class PreintegratedAhrsMeasurements {
|
||||
// Standard Constructor
|
||||
PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance);
|
||||
PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance);
|
||||
PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs);
|
||||
|
||||
// Testable
|
||||
|
|
|
|||
|
|
@ -172,9 +172,9 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX)
|
|||
include(GtsamCythonWrap)
|
||||
|
||||
# Wrap
|
||||
wrap_and_install_library_cython("../cython/gtsam.h" # interface_header
|
||||
wrap_and_install_library_cython("../gtsam.h" # interface_header
|
||||
"" # extra imports
|
||||
"../cython" # path to setup.py.in
|
||||
"../cython/gtsam" # path to setup.py.in
|
||||
"${GTSAM_CYTHON_INSTALL_PATH}/gtsam" # install path
|
||||
)
|
||||
endif ()
|
||||
endif ()
|
||||
|
|
|
|||
Loading…
Reference in New Issue