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Merge pull request #2107 from borglab/fix-docs-params-inherits 

Towards fixing Doxygen-to-docstring issues
release/4.3a0
Frank Dellaert 2025-04-23 18:48:15 -04:00 committed by GitHub
parent c9498fe0c0 6bf2f55952
commit a80a923f4f
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GPG Key ID: B5690EEEBB952194
16 changed files with 137 additions and 129 deletions
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12
DEVELOP.md
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@ -1,13 +1,21 @@
# Information for Developers # Information for Developers
### Coding Conventions ## Coding Conventions
* Classes are Uppercase, methods and functions lowerMixedCase. * Classes are Uppercase, methods and functions lowerMixedCase.
* Apart from those naming conventions, we adopt Google C++ style. * Apart from those naming conventions, we adopt Google C++ style.
* Use meaningful variable names, e.g. `measurement` not `msm`, avoid abbreviations. * Use meaningful variable names, e.g. `measurement` not `msm`, avoid abbreviations.
### Header-Wrapper Parameter Name Matching
### Windows If you add a C++ function to a `.i` file to expose it to the wrapper, you must ensure that the parameter names match exactly between the declaration in the header file and the declaration in the `.i`. Similarly, if you change any parameter names in a wrapped function in a header file, or change any parameter names in a `.i` file, you must change the corresponding function in the other file to reflect those changes.
> [!IMPORTANT]
> The Doxygen documentation from the C++ will not carry over into the Python docstring if the parameter names do not match exactly!
If you encounter any functions that do not meet this criterion, please submit a PR to make them match.
## Windows
On Windows it is necessary to explicitly export all functions from the library which should be externally accessible. To do this, include the macro `GTSAM_EXPORT` in your class or function definition. On Windows it is necessary to explicitly export all functions from the library which should be externally accessible. To do this, include the macro `GTSAM_EXPORT` in your class or function definition.

2
gtsam/base/base.i
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@ -93,7 +93,7 @@ virtual class Value {
// No constructors because this is an abstract class // No constructors because this is an abstract class
// Testable // Testable
void print(string s = "") const; void print(string str = "") const;
// Manifold // Manifold
size_t dim() const; size_t dim() const;

6
gtsam/discrete/discrete.i
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@ -45,7 +45,7 @@ virtual class DiscreteFactor : gtsam::Factor {
void print(string s = "DiscreteFactor\n", void print(string s = "DiscreteFactor\n",
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::DiscreteFactor& other, double tol = 1e-9) const; bool equals(const gtsam::DiscreteFactor& lf, double tol = 1e-9) const;
double operator()(const gtsam::DiscreteValues& values) const; double operator()(const gtsam::DiscreteValues& values) const;
}; };
@ -142,7 +142,7 @@ virtual class DiscreteConditional : gtsam::DecisionTreeFactor {
size_t sample(size_t value) const; size_t sample(size_t value) const;
size_t sample() const; size_t sample() const;
void sampleInPlace(gtsam::DiscreteValues @parentsValues) const; void sampleInPlace(gtsam::DiscreteValues @parentsValues) const;
size_t argmax(const gtsam::DiscreteValues& parents) const; size_t argmax(const gtsam::DiscreteValues& parentsValues) const;
// Markdown and HTML // Markdown and HTML
string markdown(const gtsam::KeyFormatter& keyFormatter = string markdown(const gtsam::KeyFormatter& keyFormatter =
@ -226,7 +226,7 @@ class DiscreteBayesNet {
void print(string s = "DiscreteBayesNet\n", void print(string s = "DiscreteBayesNet\n",
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::DiscreteBayesNet& other, double tol = 1e-9) const; bool equals(const gtsam::DiscreteBayesNet& bn, double tol = 1e-9) const;
// Standard interface. // Standard interface.
double logProbability(const gtsam::DiscreteValues& values) const; double logProbability(const gtsam::DiscreteValues& values) const;

138
gtsam/geometry/geometry.i
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@ -73,12 +73,12 @@ class StereoPoint2 {
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
bool equals(const gtsam::StereoPoint2& point, double tol) const; bool equals(const gtsam::StereoPoint2& q, double tol) const;
// Group // Group
static gtsam::StereoPoint2 Identity(); static gtsam::StereoPoint2 Identity();
gtsam::StereoPoint2 inverse() const; gtsam::StereoPoint2 inverse() const;
gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2) const; gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p1) const;
gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2) const; gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2) const;
// Operator Overloads // Operator Overloads
@ -90,10 +90,10 @@ class StereoPoint2 {
// Manifold // Manifold
gtsam::StereoPoint2 retract(gtsam::Vector v) const; gtsam::StereoPoint2 retract(gtsam::Vector v) const;
gtsam::Vector localCoordinates(const gtsam::StereoPoint2& p) const; gtsam::Vector localCoordinates(const gtsam::StereoPoint2& t2) const;
// Lie Group // Lie Group
static gtsam::StereoPoint2 Expmap(gtsam::Vector v); static gtsam::StereoPoint2 Expmap(gtsam::Vector d);
static gtsam::Vector Logmap(const gtsam::StereoPoint2& p); static gtsam::Vector Logmap(const gtsam::StereoPoint2& p);
// Standard Interface // Standard Interface
@ -154,7 +154,7 @@ class Rot2 {
// Testable // Testable
void print(string s = "theta") const; void print(string s = "theta") const;
bool equals(const gtsam::Rot2& rot, double tol) const; bool equals(const gtsam::Rot2& R, double tol) const;
// Group // Group
static gtsam::Rot2 Identity(); static gtsam::Rot2 Identity();
@ -173,15 +173,15 @@ class Rot2 {
// Lie Group // Lie Group
static gtsam::Rot2 Expmap(gtsam::Vector v); static gtsam::Rot2 Expmap(gtsam::Vector v);
static gtsam::Vector Logmap(const gtsam::Rot2& p); static gtsam::Vector Logmap(const gtsam::Rot2& r);
gtsam::Rot2 expmap(gtsam::Vector v); gtsam::Rot2 expmap(gtsam::Vector v);
gtsam::Vector logmap(const gtsam::Rot2& p); gtsam::Vector logmap(const gtsam::Rot2& p);
static gtsam::Matrix Hat(const gtsam::Vector& xi); static gtsam::Matrix Hat(const gtsam::Vector& xi);
static gtsam::Vector Vee(const gtsam::Matrix& xi); static gtsam::Vector Vee(const gtsam::Matrix& X);
// Group Action on Point2 // Group Action on Point2
gtsam::Point2 rotate(const gtsam::Point2& point) const; gtsam::Point2 rotate(const gtsam::Point2& p) const;
gtsam::Point2 unrotate(const gtsam::Point2& point) const; gtsam::Point2 unrotate(const gtsam::Point2& p) const;
// Standard Interface // Standard Interface
static gtsam::Rot2 relativeBearing( static gtsam::Rot2 relativeBearing(
@ -390,7 +390,7 @@ class Rot3 {
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
bool equals(const gtsam::Rot3& rot, double tol) const; bool equals(const gtsam::Rot3& p, double tol) const;
// Group // Group
static gtsam::Rot3 Identity(); static gtsam::Rot3 Identity();
@ -409,13 +409,13 @@ class Rot3 {
// Lie group // Lie group
static gtsam::Rot3 Expmap(gtsam::Vector v); static gtsam::Rot3 Expmap(gtsam::Vector v);
static gtsam::Vector Logmap(const gtsam::Rot3& p); static gtsam::Vector Logmap(const gtsam::Rot3& R);
static gtsam::Matrix3 ExpmapDerivative(const gtsam::Vector3& omega); static gtsam::Matrix3 ExpmapDerivative(const gtsam::Vector3& omega);
static gtsam::Matrix3 LogmapDerivative(const gtsam::Vector3& omega); static gtsam::Matrix3 LogmapDerivative(const gtsam::Vector3& omega);
gtsam::Rot3 expmap(const gtsam::Vector& v); gtsam::Rot3 expmap(const gtsam::Vector& v);
gtsam::Vector logmap(const gtsam::Rot3& p); gtsam::Vector logmap(const gtsam::Rot3& p);
static gtsam::Matrix Hat(const gtsam::Vector& xi); static gtsam::Matrix Hat(const gtsam::Vector& xi);
static gtsam::Vector Vee(const gtsam::Matrix& xi); static gtsam::Vector Vee(const gtsam::Matrix& X);
// Group Action on Point3 // Group Action on Point3
gtsam::Point3 rotate(const gtsam::Point3& p) const; gtsam::Point3 rotate(const gtsam::Point3& p) const;
@ -481,9 +481,9 @@ class Pose2 {
gtsam::Vector localCoordinates(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const; gtsam::Vector localCoordinates(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
// Lie Group // Lie Group
static gtsam::Pose2 Expmap(gtsam::Vector v); static gtsam::Pose2 Expmap(gtsam::Vector xi);
static gtsam::Vector Logmap(const gtsam::Pose2& p); static gtsam::Vector Logmap(const gtsam::Pose2& p);
static gtsam::Pose2 Expmap(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H); static gtsam::Pose2 Expmap(gtsam::Vector xi, Eigen::Ref<Eigen::MatrixXd> H);
static gtsam::Vector Logmap(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H); static gtsam::Vector Logmap(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H);
gtsam::Pose2 expmap(gtsam::Vector v); gtsam::Pose2 expmap(gtsam::Vector v);
gtsam::Pose2 expmap(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2); gtsam::Pose2 expmap(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2);
@ -493,11 +493,11 @@ class Pose2 {
static gtsam::Matrix LogmapDerivative(const gtsam::Pose2& v); static gtsam::Matrix LogmapDerivative(const gtsam::Pose2& v);
gtsam::Matrix AdjointMap() const; gtsam::Matrix AdjointMap() const;
gtsam::Vector Adjoint(gtsam::Vector xi) const; gtsam::Vector Adjoint(gtsam::Vector xi) const;
static gtsam::Matrix adjointMap_(gtsam::Vector v); static gtsam::Matrix adjointMap_(gtsam::Vector xi);
static gtsam::Vector adjoint_(gtsam::Vector xi, gtsam::Vector y); static gtsam::Vector adjoint_(gtsam::Vector xi, gtsam::Vector y);
static gtsam::Vector adjointTranspose(gtsam::Vector xi, gtsam::Vector y); static gtsam::Vector adjointTranspose(gtsam::Vector xi, gtsam::Vector y);
static gtsam::Matrix Hat(const gtsam::Vector& xi); static gtsam::Matrix Hat(const gtsam::Vector& xi);
static gtsam::Vector Vee(const gtsam::Matrix& xi); static gtsam::Vector Vee(const gtsam::Matrix& X);
// Group Actions on Point2 // Group Actions on Point2
gtsam::Point2 transformFrom(const gtsam::Point2& p) const; gtsam::Point2 transformFrom(const gtsam::Point2& p) const;
@ -551,8 +551,8 @@ class Pose3 {
gtsam::Pose3 between(const gtsam::Pose3& pose, gtsam::Pose3 between(const gtsam::Pose3& pose,
Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H1,
Eigen::Ref<Eigen::MatrixXd> H2) const; Eigen::Ref<Eigen::MatrixXd> H2) const;
gtsam::Pose3 slerp(double t, const gtsam::Pose3& pose) const; gtsam::Pose3 slerp(double t, const gtsam::Pose3& other) const;
gtsam::Pose3 slerp(double t, const gtsam::Pose3& pose, gtsam::Pose3 slerp(double t, const gtsam::Pose3& other,
Eigen::Ref<Eigen::MatrixXd> Hx, Eigen::Ref<Eigen::MatrixXd> Hx,
Eigen::Ref<Eigen::MatrixXd> Hy) const; Eigen::Ref<Eigen::MatrixXd> Hy) const;
@ -566,13 +566,13 @@ class Pose3 {
gtsam::Vector localCoordinates(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hxi) const; gtsam::Vector localCoordinates(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hxi) const;
// Lie Group // Lie Group
static gtsam::Pose3 Expmap(gtsam::Vector v); static gtsam::Pose3 Expmap(gtsam::Vector xi);
static gtsam::Vector Logmap(const gtsam::Pose3& p); static gtsam::Vector Logmap(const gtsam::Pose3& p);
static gtsam::Matrix6 ExpmapDerivative(const gtsam::Vector6& xi); static gtsam::Matrix6 ExpmapDerivative(const gtsam::Vector6& xi);
static gtsam::Matrix6 LogmapDerivative(const gtsam::Vector6& xi); static gtsam::Matrix6 LogmapDerivative(const gtsam::Vector6& xi);
static gtsam::Matrix6 LogmapDerivative(const gtsam::Pose3& xi); static gtsam::Matrix6 LogmapDerivative(const gtsam::Pose3& xi);
static gtsam::Pose3 Expmap(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H); static gtsam::Pose3 Expmap(gtsam::Vector xi, Eigen::Ref<Eigen::MatrixXd> Hxi);
static gtsam::Vector Logmap(const gtsam::Pose3& p, Eigen::Ref<Eigen::MatrixXd> H); static gtsam::Vector Logmap(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hpose);
gtsam::Pose3 expmap(gtsam::Vector v); gtsam::Pose3 expmap(gtsam::Vector v);
gtsam::Pose3 expmap(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2); gtsam::Pose3 expmap(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2);
@ -580,11 +580,11 @@ class Pose3 {
gtsam::Vector logmap(const gtsam::Pose3& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2); gtsam::Vector logmap(const gtsam::Pose3& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2);
gtsam::Matrix AdjointMap() const; gtsam::Matrix AdjointMap() const;
gtsam::Vector Adjoint(gtsam::Vector xi) const; gtsam::Vector Adjoint(gtsam::Vector xi_b) const;
gtsam::Vector Adjoint(gtsam::Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this, gtsam::Vector Adjoint(gtsam::Vector xi_b, Eigen::Ref<Eigen::MatrixXd> H_this,
Eigen::Ref<Eigen::MatrixXd> H_xib) const; Eigen::Ref<Eigen::MatrixXd> H_xib) const;
gtsam::Vector AdjointTranspose(gtsam::Vector xi) const; gtsam::Vector AdjointTranspose(gtsam::Vector x) const;
gtsam::Vector AdjointTranspose(gtsam::Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this, gtsam::Vector AdjointTranspose(gtsam::Vector x, Eigen::Ref<Eigen::MatrixXd> H_this,
Eigen::Ref<Eigen::MatrixXd> H_x) const; Eigen::Ref<Eigen::MatrixXd> H_x) const;
static gtsam::Matrix adjointMap(gtsam::Vector xi); static gtsam::Matrix adjointMap(gtsam::Vector xi);
static gtsam::Vector adjoint(gtsam::Vector xi, gtsam::Vector y); static gtsam::Vector adjoint(gtsam::Vector xi, gtsam::Vector y);
@ -593,7 +593,7 @@ class Pose3 {
static gtsam::Vector adjointTranspose(gtsam::Vector xi, gtsam::Vector y); static gtsam::Vector adjointTranspose(gtsam::Vector xi, gtsam::Vector y);
static gtsam::Matrix Hat(const gtsam::Vector& xi); static gtsam::Matrix Hat(const gtsam::Vector& xi);
static gtsam::Vector Vee(const gtsam::Matrix& xi); static gtsam::Vector Vee(const gtsam::Matrix& X);
// Group Action on Point3 // Group Action on Point3
gtsam::Point3 transformFrom(const gtsam::Point3& point) const; gtsam::Point3 transformFrom(const gtsam::Point3& point) const;
@ -616,10 +616,10 @@ class Pose3 {
double y() const; double y() const;
double z() const; double z() const;
gtsam::Matrix matrix() const; gtsam::Matrix matrix() const;
gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose) const; gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& aTb) const;
gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hself, gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hself,
Eigen::Ref<Eigen::MatrixXd> HaTb) const; Eigen::Ref<Eigen::MatrixXd> HaTb) const;
gtsam::Pose3 transformPoseTo(const gtsam::Pose3& pose) const; gtsam::Pose3 transformPoseTo(const gtsam::Pose3& wTb) const;
gtsam::Pose3 transformPoseTo(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hself, gtsam::Pose3 transformPoseTo(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hself,
Eigen::Ref<Eigen::MatrixXd> HwTb) const; Eigen::Ref<Eigen::MatrixXd> HwTb) const;
double range(const gtsam::Point3& point); double range(const gtsam::Point3& point);
@ -661,7 +661,7 @@ class Unit3 {
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
bool equals(const gtsam::Unit3& pose, double tol) const; bool equals(const gtsam::Unit3& s, double tol) const;
// Other functionality // Other functionality
gtsam::Matrix basis() const; gtsam::Matrix basis() const;
@ -707,13 +707,13 @@ class EssentialMatrix {
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
bool equals(const gtsam::EssentialMatrix& pose, double tol) const; bool equals(const gtsam::EssentialMatrix& other, double tol) const;
// Manifold // Manifold
static size_t Dim(); static size_t Dim();
size_t dim() const; size_t dim() const;
gtsam::EssentialMatrix retract(gtsam::Vector v) const; gtsam::EssentialMatrix retract(gtsam::Vector xi) const;
gtsam::Vector localCoordinates(const gtsam::EssentialMatrix& s) const; gtsam::Vector localCoordinates(const gtsam::EssentialMatrix& other) const;
// Other methods: // Other methods:
gtsam::Rot3 rotation() const; gtsam::Rot3 rotation() const;
@ -731,7 +731,7 @@ virtual class Cal3 {
// Testable // Testable
void print(string s = "Cal3") const; void print(string s = "Cal3") const;
bool equals(const gtsam::Cal3& rhs, double tol) const; bool equals(const gtsam::Cal3& K, double tol) const;
// Standard Interface // Standard Interface
double fx() const; double fx() const;
@ -760,13 +760,13 @@ virtual class Cal3_S2 : gtsam::Cal3 {
// Testable // Testable
void print(string s = "Cal3_S2") const; void print(string s = "Cal3_S2") const;
bool equals(const gtsam::Cal3_S2& rhs, double tol) const; bool equals(const gtsam::Cal3_S2& K, double tol) const;
// Manifold // Manifold
static size_t Dim(); static size_t Dim();
size_t dim() const; size_t dim() const;
gtsam::Cal3_S2 retract(gtsam::Vector v) const; gtsam::Cal3_S2 retract(gtsam::Vector d) const;
gtsam::Vector localCoordinates(const gtsam::Cal3_S2& c) const; gtsam::Vector localCoordinates(const gtsam::Cal3_S2& T2) const;
// Action on Point2 // Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p) const; gtsam::Point2 calibrate(const gtsam::Point2& p) const;
@ -819,13 +819,13 @@ virtual class Cal3DS2 : gtsam::Cal3DS2_Base {
Cal3DS2(gtsam::Vector v); Cal3DS2(gtsam::Vector v);
// Testable // Testable
bool equals(const gtsam::Cal3DS2& rhs, double tol) const; bool equals(const gtsam::Cal3DS2& K, double tol) const;
// Manifold // Manifold
size_t dim() const; size_t dim() const;
static size_t Dim(); static size_t Dim();
gtsam::Cal3DS2 retract(gtsam::Vector v) const; gtsam::Cal3DS2 retract(gtsam::Vector d) const;
gtsam::Vector localCoordinates(const gtsam::Cal3DS2& c) const; gtsam::Vector localCoordinates(const gtsam::Cal3DS2& T2) const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -842,7 +842,7 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base {
Cal3Unified(gtsam::Vector v); Cal3Unified(gtsam::Vector v);
// Testable // Testable
bool equals(const gtsam::Cal3Unified& rhs, double tol) const; bool equals(const gtsam::Cal3Unified& K, double tol) const;
// Standard Interface // Standard Interface
double xi() const; double xi() const;
@ -852,8 +852,8 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base {
// Manifold // Manifold
size_t dim() const; size_t dim() const;
static size_t Dim(); static size_t Dim();
gtsam::Cal3Unified retract(gtsam::Vector v) const; gtsam::Cal3Unified retract(gtsam::Vector d) const;
gtsam::Vector localCoordinates(const gtsam::Cal3Unified& c) const; gtsam::Vector localCoordinates(const gtsam::Cal3Unified& T2) const;
// Action on Point2 // Action on Point2
// Note: the signature of this functions differ from the functions // Note: the signature of this functions differ from the functions
@ -881,11 +881,11 @@ virtual class Cal3Fisheye : gtsam::Cal3 {
// Testable // Testable
void print(string s = "Cal3Fisheye") const; void print(string s = "Cal3Fisheye") const;
bool equals(const gtsam::Cal3Fisheye& rhs, double tol) const; bool equals(const gtsam::Cal3Fisheye& K, double tol) const;
// Manifold // Manifold
gtsam::Cal3Fisheye retract(gtsam::Vector v) const; gtsam::Cal3Fisheye retract(gtsam::Vector d) const;
gtsam::Vector localCoordinates(const gtsam::Cal3Fisheye& c) const; gtsam::Vector localCoordinates(const gtsam::Cal3Fisheye& T2) const;
// Action on Point2 // Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p) const; gtsam::Point2 calibrate(const gtsam::Point2& p) const;
@ -915,12 +915,12 @@ virtual class Cal3_S2Stereo : gtsam::Cal3{
Cal3_S2Stereo(gtsam::Vector v); Cal3_S2Stereo(gtsam::Vector v);
// Manifold // Manifold
gtsam::Cal3_S2Stereo retract(gtsam::Vector v) const; gtsam::Cal3_S2Stereo retract(gtsam::Vector d) const;
gtsam::Vector localCoordinates(const gtsam::Cal3_S2Stereo& c) const; gtsam::Vector localCoordinates(const gtsam::Cal3_S2Stereo& T2) const;
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
bool equals(const gtsam::Cal3_S2Stereo& K, double tol) const; bool equals(const gtsam::Cal3_S2Stereo& other, double tol) const;
// Standard Interface // Standard Interface
double baseline() const; double baseline() const;
@ -935,15 +935,15 @@ virtual class Cal3f : gtsam::Cal3 {
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
bool equals(const gtsam::Cal3f& rhs, double tol) const; bool equals(const gtsam::Cal3f& K, double tol) const;
// Manifold // Manifold
gtsam::Cal3f retract(gtsam::Vector v) const; gtsam::Cal3f retract(gtsam::Vector d) const;
gtsam::Vector localCoordinates(const gtsam::Cal3f& c) const; gtsam::Vector localCoordinates(const gtsam::Cal3f& T2) const;
// Action on Point2 // Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p) const; gtsam::Point2 calibrate(const gtsam::Point2& pi) const;
gtsam::Point2 calibrate(const gtsam::Point2& p, gtsam::Point2 calibrate(const gtsam::Point2& pi,
Eigen::Ref<Eigen::MatrixXd> Dcal, Eigen::Ref<Eigen::MatrixXd> Dcal,
Eigen::Ref<Eigen::MatrixXd> Dp) const; Eigen::Ref<Eigen::MatrixXd> Dp) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
@ -969,11 +969,11 @@ virtual class Cal3Bundler : gtsam::Cal3f {
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
bool equals(const gtsam::Cal3Bundler& rhs, double tol) const; bool equals(const gtsam::Cal3Bundler& K, double tol) const;
// Manifold // Manifold
gtsam::Cal3Bundler retract(gtsam::Vector v) const; gtsam::Cal3Bundler retract(gtsam::Vector d) const;
gtsam::Vector localCoordinates(const gtsam::Cal3Bundler& c) const; gtsam::Vector localCoordinates(const gtsam::Cal3Bundler& T2) const;
// Standard Interface // Standard Interface
double k1() const; double k1() const;
@ -1060,7 +1060,7 @@ class CalibratedCamera {
gtsam::Point2 project(const gtsam::Point3& point, gtsam::Point2 project(const gtsam::Point3& point,
Eigen::Ref<Eigen::MatrixXd> Dcamera, Eigen::Ref<Eigen::MatrixXd> Dcamera,
Eigen::Ref<Eigen::MatrixXd> Dpoint); Eigen::Ref<Eigen::MatrixXd> Dpoint);
gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; gtsam::Point3 backproject(const gtsam::Point2& pn, double depth) const;
gtsam::Point3 backproject(const gtsam::Point2& p, double depth, gtsam::Point3 backproject(const gtsam::Point2& p, double depth,
Eigen::Ref<Eigen::MatrixXd> Dresult_dpose, Eigen::Ref<Eigen::MatrixXd> Dresult_dpose,
Eigen::Ref<Eigen::MatrixXd> Dresult_dp, Eigen::Ref<Eigen::MatrixXd> Dresult_dp,
@ -1179,7 +1179,7 @@ class PinholePose {
// Manifold // Manifold
This retract(gtsam::Vector d) const; This retract(gtsam::Vector d) const;
gtsam::Vector localCoordinates(const This& T2) const; gtsam::Vector localCoordinates(const This& p) const;
size_t dim() const; size_t dim() const;
static size_t Dim(); static size_t Dim();
@ -1231,11 +1231,11 @@ class Similarity2 {
// Lie group // Lie group
static gtsam::Similarity2 Expmap(gtsam::Vector v); static gtsam::Similarity2 Expmap(gtsam::Vector v);
static gtsam::Vector Logmap(const gtsam::Similarity2& p); static gtsam::Vector Logmap(const gtsam::Similarity2& S);
gtsam::Similarity2 expmap(const gtsam::Vector& v); gtsam::Similarity2 expmap(const gtsam::Vector& v);
gtsam::Vector logmap(const gtsam::Similarity2& p); gtsam::Vector logmap(const gtsam::Similarity2& p);
static gtsam::Matrix Hat(const gtsam::Vector& xi); static gtsam::Matrix Hat(const gtsam::Vector& xi);
static gtsam::Vector Vee(const gtsam::Matrix& xi); static gtsam::Vector Vee(const gtsam::Matrix& X);
// Standard Interface // Standard Interface
bool equals(const gtsam::Similarity2& sim, double tol) const; bool equals(const gtsam::Similarity2& sim, double tol) const;
@ -1263,11 +1263,11 @@ class Similarity3 {
// Lie group // Lie group
static gtsam::Similarity3 Expmap(gtsam::Vector v); static gtsam::Similarity3 Expmap(gtsam::Vector v);
static gtsam::Vector Logmap(const gtsam::Similarity3& p); static gtsam::Vector Logmap(const gtsam::Similarity3& s);
gtsam::Similarity3 expmap(const gtsam::Vector& v); gtsam::Similarity3 expmap(const gtsam::Vector& v);
gtsam::Vector logmap(const gtsam::Similarity3& p); gtsam::Vector logmap(const gtsam::Similarity3& p);
static gtsam::Matrix Hat(const gtsam::Vector& xi); static gtsam::Matrix Hat(const gtsam::Vector& xi);
static gtsam::Vector Vee(const gtsam::Matrix& xi); static gtsam::Vector Vee(const gtsam::Matrix& X);
// Standard Interface // Standard Interface
bool equals(const gtsam::Similarity3& sim, double tol) const; bool equals(const gtsam::Similarity3& sim, double tol) const;
@ -1303,14 +1303,14 @@ class StereoCamera {
gtsam::Cal3_S2Stereo calibration() const; gtsam::Cal3_S2Stereo calibration() const;
// Manifold // Manifold
gtsam::StereoCamera retract(gtsam::Vector d) const; gtsam::StereoCamera retract(gtsam::Vector v) const;
gtsam::Vector localCoordinates(const gtsam::StereoCamera& T2) const; gtsam::Vector localCoordinates(const gtsam::StereoCamera& t2) const;
size_t dim() const; size_t dim() const;
static size_t Dim(); static size_t Dim();
// Transformations and measurement functions // Transformations and measurement functions
gtsam::StereoPoint2 project(const gtsam::Point3& point) const; gtsam::StereoPoint2 project(const gtsam::Point3& point) const;
gtsam::Point3 backproject(const gtsam::StereoPoint2& p) const; gtsam::Point3 backproject(const gtsam::StereoPoint2& z) const;
// project with Jacobian // project with Jacobian
gtsam::StereoPoint2 project2(const gtsam::Point3& point, gtsam::StereoPoint2 project2(const gtsam::Point3& point,
@ -1483,10 +1483,10 @@ class BearingRange {
BearingRange(const BEARING& b, const RANGE& r); BearingRange(const BEARING& b, const RANGE& r);
BEARING bearing() const; BEARING bearing() const;
RANGE range() const; RANGE range() const;
static This Measure(const POSE& pose, const POINT& point); static This Measure(const POSE& a1, const POINT& a2);
static BEARING MeasureBearing(const POSE& pose, const POINT& point); static BEARING MeasureBearing(const POSE& a1, const POINT& a2);
static RANGE MeasureRange(const POSE& pose, const POINT& point); static RANGE MeasureRange(const POSE& a1, const POINT& a2);
void print(string s = "") const; void print(string str = "") const;
}; };
typedef gtsam::BearingRange<gtsam::Pose2, gtsam::Point2, gtsam::Rot2, double> typedef gtsam::BearingRange<gtsam::Pose2, gtsam::Point2, gtsam::Rot2, double>

6
gtsam/hybrid/hybrid.i
View File

@ -39,7 +39,7 @@ virtual class HybridFactor : gtsam::Factor {
void print(string s = "HybridFactor\n", void print(string s = "HybridFactor\n",
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::HybridFactor& other, double tol = 1e-9) const; bool equals(const gtsam::HybridFactor& lf, double tol = 1e-9) const;
// Standard interface: // Standard interface:
double error(const gtsam::HybridValues& values) const; double error(const gtsam::HybridValues& values) const;
@ -145,7 +145,7 @@ class HybridBayesNet {
const gtsam::HybridConditional* at(size_t i) const; const gtsam::HybridConditional* at(size_t i) const;
// Standard interface: // Standard interface:
double logProbability(const gtsam::HybridValues& values) const; double logProbability(const gtsam::HybridValues& x) const;
double evaluate(const gtsam::HybridValues& values) const; double evaluate(const gtsam::HybridValues& values) const;
double error(const gtsam::HybridValues& values) const; double error(const gtsam::HybridValues& values) const;
@ -163,7 +163,7 @@ class HybridBayesNet {
void print(string s = "HybridBayesNet\n", void print(string s = "HybridBayesNet\n",
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::HybridBayesNet& other, double tol = 1e-9) const; bool equals(const gtsam::HybridBayesNet& fg, double tol = 1e-9) const;
string dot( string dot(
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter, const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,

4
gtsam/inference/inference.i
View File

@ -143,7 +143,7 @@ class Ordering {
template < template <
FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph, FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridGaussianFactorGraph}> gtsam::SymbolicFactorGraph, gtsam::GaussianFactorGraph, gtsam::HybridGaussianFactorGraph}>
static gtsam::Ordering Natural(const FACTOR_GRAPH& graph); static gtsam::Ordering Natural(const FACTOR_GRAPH& fg);
template < template <
FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph, FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
@ -159,7 +159,7 @@ class Ordering {
// Testable // Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::Ordering& ord, double tol) const; bool equals(const gtsam::Ordering& other, double tol) const;
// Standard interface // Standard interface
size_t size() const; size_t size() const;

2
gtsam/linear/GaussianFactorGraph.h
View File

@ -313,7 +313,7 @@ namespace gtsam {
* the dense elimination function specified in \c function (default EliminatePreferCholesky), * the dense elimination function specified in \c function (default EliminatePreferCholesky),
* followed by back-substitution in the Bayes tree resulting from elimination. Is equivalent * followed by back-substitution in the Bayes tree resulting from elimination. Is equivalent
* to calling graph.eliminateMultifrontal()->optimize(). */ * to calling graph.eliminateMultifrontal()->optimize(). */
VectorValues optimize(const Ordering&, VectorValues optimize(const Ordering& ordering,
const Eliminate& function = EliminationTraitsType::DefaultEliminate) const; const Eliminate& function = EliminationTraitsType::DefaultEliminate) const;
/** /**

18
gtsam/linear/linear.i
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@ -276,7 +276,7 @@ class VectorValues {
VectorValues(const gtsam::VectorValues& first, const gtsam::VectorValues& second); VectorValues(const gtsam::VectorValues& first, const gtsam::VectorValues& second);
//Named Constructors //Named Constructors
static gtsam::VectorValues Zero(const gtsam::VectorValues& model); static gtsam::VectorValues Zero(const gtsam::VectorValues& other);
//Standard Interface //Standard Interface
size_t size() const; size_t size() const;
@ -285,7 +285,7 @@ class VectorValues {
void print(string s = "VectorValues", void print(string s = "VectorValues",
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::VectorValues& expected, double tol) const; bool equals(const gtsam::VectorValues& x, double tol) const;
void insert(size_t j, gtsam::Vector value); void insert(size_t j, gtsam::Vector value);
gtsam::Vector vector() const; gtsam::Vector vector() const;
gtsam::Vector vector(const gtsam::KeyVector& keys) const; gtsam::Vector vector(const gtsam::KeyVector& keys) const;
@ -300,10 +300,10 @@ class VectorValues {
void addInPlace(const gtsam::VectorValues& c); void addInPlace(const gtsam::VectorValues& c);
gtsam::VectorValues subtract(const gtsam::VectorValues& c) const; gtsam::VectorValues subtract(const gtsam::VectorValues& c) const;
gtsam::VectorValues scale(double a) const; gtsam::VectorValues scale(double a) const;
void scaleInPlace(double a); void scaleInPlace(double alpha);
bool hasSameStructure(const gtsam::VectorValues& other) const; bool hasSameStructure(const gtsam::VectorValues& other) const;
double dot(const gtsam::VectorValues& V) const; double dot(const gtsam::VectorValues& v) const;
double norm() const; double norm() const;
double squaredNorm() const; double squaredNorm() const;
@ -419,7 +419,7 @@ class GaussianFactorGraph {
// From FactorGraph // From FactorGraph
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GaussianFactorGraph& lfgraph, double tol) const; bool equals(const gtsam::GaussianFactorGraph& fg, double tol) const;
size_t size() const; size_t size() const;
gtsam::GaussianFactor* at(size_t idx) const; gtsam::GaussianFactor* at(size_t idx) const;
gtsam::KeySet keys() const; gtsam::KeySet keys() const;
@ -441,9 +441,9 @@ class GaussianFactorGraph {
gtsam::Vector b, const gtsam::noiseModel::Diagonal* model); gtsam::Vector b, const gtsam::noiseModel::Diagonal* model);
// error and probability // error and probability
double error(const gtsam::VectorValues& c) const; double error(const gtsam::VectorValues& x) const;
double probPrime(const gtsam::VectorValues& c) const; double probPrime(const gtsam::VectorValues& c) const;
void printErrors(const gtsam::VectorValues& c, string str = "GaussianFactorGraph: ", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; void printErrors(const gtsam::VectorValues& x, string str = "GaussianFactorGraph: ", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
gtsam::GaussianFactorGraph clone() const; gtsam::GaussianFactorGraph clone() const;
gtsam::GaussianFactorGraph negate() const; gtsam::GaussianFactorGraph negate() const;
@ -553,7 +553,7 @@ virtual class GaussianConditional : gtsam::JacobianFactor {
double negLogConstant() const; double negLogConstant() const;
double logProbability(const gtsam::VectorValues& x) const; double logProbability(const gtsam::VectorValues& x) const;
double evaluate(const gtsam::VectorValues& x) const; double evaluate(const gtsam::VectorValues& x) const;
double error(const gtsam::VectorValues& x) const; double error(const gtsam::VectorValues& c) const;
gtsam::Key firstFrontalKey() const; gtsam::Key firstFrontalKey() const;
gtsam::VectorValues solve(const gtsam::VectorValues& parents) const; gtsam::VectorValues solve(const gtsam::VectorValues& parents) const;
gtsam::JacobianFactor* likelihood( gtsam::JacobianFactor* likelihood(
@ -609,7 +609,7 @@ virtual class GaussianBayesNet {
// Testable // Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GaussianBayesNet& other, double tol) const; bool equals(const gtsam::GaussianBayesNet& bn, double tol) const;
size_t size() const; size_t size() const;
void push_back(gtsam::GaussianConditional* conditional); void push_back(gtsam::GaussianConditional* conditional);

2
gtsam/navigation/AHRSFactor.h
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@ -85,7 +85,7 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
void print(const std::string& s = "Preintegrated Measurements: ") const; void print(const std::string& s = "Preintegrated Measurements: ") const;
/// equals /// equals
bool equals(const PreintegratedAhrsMeasurements&, double tol = 1e-9) const; bool equals(const PreintegratedAhrsMeasurements& expected, double tol = 1e-9) const;
/// Reset integrated quantities to zero /// Reset integrated quantities to zero
void resetIntegration(); void resetIntegration();

20
gtsam/navigation/navigation.i
View File

@ -46,7 +46,7 @@ class NavState {
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
bool equals(const gtsam::NavState& expected, double tol) const; bool equals(const gtsam::NavState& other, double tol) const;
// Access // Access
gtsam::Rot3 attitude() const; gtsam::Rot3 attitude() const;
@ -55,22 +55,22 @@ class NavState {
gtsam::Pose3 pose() const; gtsam::Pose3 pose() const;
// Manifold // Manifold
gtsam::NavState retract(const gtsam::Vector& x) const; gtsam::NavState retract(const gtsam::Vector& v) const;
gtsam::Vector localCoordinates(const gtsam::NavState& g) const; gtsam::Vector localCoordinates(const gtsam::NavState& g) const;
// Lie Group // Lie Group
static gtsam::NavState Expmap(gtsam::Vector v); static gtsam::NavState Expmap(gtsam::Vector v);
static gtsam::Vector Logmap(const gtsam::NavState& p); static gtsam::Vector Logmap(const gtsam::NavState& p);
static gtsam::NavState Expmap(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H); static gtsam::NavState Expmap(gtsam::Vector xi, Eigen::Ref<Eigen::MatrixXd> Hxi);
static gtsam::Vector Logmap(const gtsam::NavState& p, Eigen::Ref<Eigen::MatrixXd> H); static gtsam::Vector Logmap(const gtsam::NavState& pose, Eigen::Ref<Eigen::MatrixXd> Hpose);
gtsam::NavState expmap(gtsam::Vector v); gtsam::NavState expmap(gtsam::Vector v);
gtsam::NavState expmap(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2); gtsam::NavState expmap(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2);
gtsam::Vector logmap(const gtsam::NavState& p); gtsam::Vector logmap(const gtsam::NavState& p);
gtsam::Vector logmap(const gtsam::NavState& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2); gtsam::Vector logmap(const gtsam::NavState& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2);
gtsam::Matrix AdjointMap() const; gtsam::Matrix AdjointMap() const;
gtsam::Vector Adjoint(gtsam::Vector xi) const; gtsam::Vector Adjoint(gtsam::Vector xi_b) const;
static gtsam::Matrix Hat(const gtsam::Vector& xi); static gtsam::Matrix Hat(const gtsam::Vector& xi);
static gtsam::Vector Vee(const gtsam::Matrix& xi); static gtsam::Vector Vee(const gtsam::Matrix& X);
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -82,7 +82,7 @@ virtual class PreintegratedRotationParams {
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
bool equals(const gtsam::PreintegratedRotationParams& expected, double tol); bool equals(const gtsam::PreintegratedRotationParams& other, double tol);
void setGyroscopeCovariance(gtsam::Matrix cov); void setGyroscopeCovariance(gtsam::Matrix cov);
void setOmegaCoriolis(gtsam::Vector omega); void setOmegaCoriolis(gtsam::Vector omega);
@ -114,7 +114,7 @@ class PreintegratedRotation {
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
bool equals(const gtsam::PreintegratedRotation& expected, double tol) const; bool equals(const gtsam::PreintegratedRotation& other, double tol) const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -133,7 +133,7 @@ virtual class PreintegrationParams : gtsam::PreintegratedRotationParams {
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
bool equals(const gtsam::PreintegrationParams& expected, double tol); bool equals(const gtsam::PreintegrationParams& other, double tol);
void setAccelerometerCovariance(gtsam::Matrix cov); void setAccelerometerCovariance(gtsam::Matrix cov);
void setIntegrationCovariance(gtsam::Matrix cov); void setIntegrationCovariance(gtsam::Matrix cov);
@ -221,7 +221,7 @@ virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams {
// Testable // Testable
void print(string s = "") const; void print(string s = "") const;
bool equals(const gtsam::PreintegrationCombinedParams& expected, double tol); bool equals(const gtsam::PreintegrationCombinedParams& other, double tol);
void setBiasAccCovariance(gtsam::Matrix cov); void setBiasAccCovariance(gtsam::Matrix cov);
void setBiasOmegaCovariance(gtsam::Matrix cov); void setBiasOmegaCovariance(gtsam::Matrix cov);

2
gtsam/nonlinear/NonlinearFactor.h
View File

@ -139,7 +139,7 @@ public:
* when the constraint is *NOT* fulfilled. * when the constraint is *NOT* fulfilled.
* @return true if the constraint is active * @return true if the constraint is active
*/ */
virtual bool active(const Values& /*c*/) const { return true; } virtual bool active(const Values& c) const { return true; }
/** linearize to a GaussianFactor */ /** linearize to a GaussianFactor */
virtual std::shared_ptr<GaussianFactor> virtual std::shared_ptr<GaussianFactor>

34
gtsam/nonlinear/nonlinear.i
View File

@ -50,7 +50,7 @@ class NonlinearFactorGraph {
void print(string s = "NonlinearFactorGraph: ", void print(string s = "NonlinearFactorGraph: ",
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const; bool equals(const gtsam::NonlinearFactorGraph& other, double tol) const;
size_t size() const; size_t size() const;
bool empty() const; bool empty() const;
void remove(size_t i); void remove(size_t i);
@ -107,7 +107,7 @@ class NonlinearFactorGraph {
gtsam::Ordering orderingCOLAMD() const; gtsam::Ordering orderingCOLAMD() const;
// Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const
// std::map<gtsam::Key,int>& constraints) const; // std::map<gtsam::Key,int>& constraints) const;
gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values) const; gtsam::GaussianFactorGraph* linearize(const gtsam::Values& linearizationPoint) const;
gtsam::NonlinearFactorGraph clone() const; gtsam::NonlinearFactorGraph clone() const;
string dot( string dot(
@ -129,7 +129,7 @@ virtual class NonlinearFactor : gtsam::Factor {
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
// NonlinearFactor // NonlinearFactor
bool equals(const gtsam::NonlinearFactor& other, double tol) const; bool equals(const gtsam::NonlinearFactor& f, double tol) const;
double error(const gtsam::Values& c) const; double error(const gtsam::Values& c) const;
double error(const gtsam::HybridValues& c) const; double error(const gtsam::HybridValues& c) const;
size_t dim() const; size_t dim() const;
@ -141,11 +141,11 @@ virtual class NonlinearFactor : gtsam::Factor {
#include <gtsam/nonlinear/NonlinearFactor.h> #include <gtsam/nonlinear/NonlinearFactor.h>
virtual class NoiseModelFactor : gtsam::NonlinearFactor { virtual class NoiseModelFactor : gtsam::NonlinearFactor {
bool equals(const gtsam::NoiseModelFactor& other, double tol) const; bool equals(const gtsam::NoiseModelFactor& f, double tol) const;
gtsam::noiseModel::Base* noiseModel() const; gtsam::noiseModel::Base* noiseModel() const;
gtsam::NoiseModelFactor* cloneWithNewNoiseModel(gtsam::noiseModel::Base* newNoise) const; gtsam::NoiseModelFactor* cloneWithNewNoiseModel(gtsam::noiseModel::Base* newNoise) const;
gtsam::Vector unwhitenedError(const gtsam::Values& x) const; gtsam::Vector unwhitenedError(const gtsam::Values& x) const;
gtsam::Vector whitenedError(const gtsam::Values& x) const; gtsam::Vector whitenedError(const gtsam::Values& c) const;
}; };
#include <gtsam/nonlinear/Marginals.h> #include <gtsam/nonlinear/Marginals.h>
@ -216,7 +216,7 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor {
#include <gtsam/nonlinear/NonlinearOptimizerParams.h> #include <gtsam/nonlinear/NonlinearOptimizerParams.h>
virtual class NonlinearOptimizerParams { virtual class NonlinearOptimizerParams {
NonlinearOptimizerParams(); NonlinearOptimizerParams();
void print(string s = "") const; void print(string str = "") const;
int getMaxIterations() const; int getMaxIterations() const;
double getRelativeErrorTol() const; double getRelativeErrorTol() const;
@ -228,7 +228,7 @@ virtual class NonlinearOptimizerParams {
void setRelativeErrorTol(double value); void setRelativeErrorTol(double value);
void setAbsoluteErrorTol(double value); void setAbsoluteErrorTol(double value);
void setErrorTol(double value); void setErrorTol(double value);
void setVerbosity(string s); void setVerbosity(string src);
string getLinearSolverType() const; string getLinearSolverType() const;
void setLinearSolverType(string solver); void setLinearSolverType(string solver);
@ -404,14 +404,14 @@ virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer {
gtsam::LevenbergMarquardtParams()); gtsam::LevenbergMarquardtParams());
double lambda() const; double lambda() const;
void print(string s = "") const; void print(string str = "") const;
}; };
#include <gtsam/nonlinear/ISAM2.h> #include <gtsam/nonlinear/ISAM2.h>
class ISAM2GaussNewtonParams { class ISAM2GaussNewtonParams {
ISAM2GaussNewtonParams(double _wildfireThreshold = 0.001); ISAM2GaussNewtonParams(double _wildfireThreshold = 0.001);
void print(string s = "") const; void print(string str = "") const;
/** Getters and Setters for all properties */ /** Getters and Setters for all properties */
double getWildfireThreshold() const; double getWildfireThreshold() const;
@ -421,7 +421,7 @@ class ISAM2GaussNewtonParams {
class ISAM2DoglegParams { class ISAM2DoglegParams {
ISAM2DoglegParams(); ISAM2DoglegParams();
void print(string s = "") const; void print(string str = "") const;
/** Getters and Setters for all properties */ /** Getters and Setters for all properties */
double getWildfireThreshold() const; double getWildfireThreshold() const;
@ -457,13 +457,13 @@ class ISAM2ThresholdMap {
class ISAM2Params { class ISAM2Params {
ISAM2Params(); ISAM2Params();
void print(string s = "") const; void print(string str = "") const;
/** Getters and Setters for all properties */ /** Getters and Setters for all properties */
void setOptimizationParams( void setOptimizationParams(
const gtsam::ISAM2GaussNewtonParams& gauss_newton__params); const gtsam::ISAM2GaussNewtonParams& gauss_newton__params);
void setOptimizationParams(const gtsam::ISAM2DoglegParams& dogleg_params); void setOptimizationParams(const gtsam::ISAM2DoglegParams& optimizationParams);
void setRelinearizeThreshold(double threshold); void setRelinearizeThreshold(double relinearizeThreshold);
void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& threshold_map); void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& threshold_map);
string getFactorization() const; string getFactorization() const;
void setFactorization(string factorization); void setFactorization(string factorization);
@ -493,7 +493,7 @@ class ISAM2Clique {
class ISAM2Result { class ISAM2Result {
ISAM2Result(); ISAM2Result();
void print(string s = "") const; void print(string str = "") const;
/** Getters and Setters for all properties */ /** Getters and Setters for all properties */
size_t getVariablesRelinearized() const; size_t getVariablesRelinearized() const;
@ -542,7 +542,7 @@ class ISAM2 {
const gtsam::Values& newTheta, const gtsam::Values& newTheta,
const gtsam::ISAM2UpdateParams& updateParams); const gtsam::ISAM2UpdateParams& updateParams);
double error(const gtsam::VectorValues& values) const; double error(const gtsam::VectorValues& x) const;
gtsam::Values getLinearizationPoint() const; gtsam::Values getLinearizationPoint() const;
bool valueExists(gtsam::Key key) const; bool valueExists(gtsam::Key key) const;
@ -717,7 +717,7 @@ virtual class FixedLagSmoother {
virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother { virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
BatchFixedLagSmoother(); BatchFixedLagSmoother();
BatchFixedLagSmoother(double smootherLag); BatchFixedLagSmoother(double smootherLag);
BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& params); BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& parameters);
void print(string s = "BatchFixedLagSmoother:\n") const; void print(string s = "BatchFixedLagSmoother:\n") const;
@ -735,7 +735,7 @@ virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
virtual class IncrementalFixedLagSmoother : gtsam::FixedLagSmoother { virtual class IncrementalFixedLagSmoother : gtsam::FixedLagSmoother {
IncrementalFixedLagSmoother(); IncrementalFixedLagSmoother();
IncrementalFixedLagSmoother(double smootherLag); IncrementalFixedLagSmoother(double smootherLag);
IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& params); IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& parameters);
void print(string s = "IncrementalFixedLagSmoother:\n") const; void print(string s = "IncrementalFixedLagSmoother:\n") const;

2
gtsam/nonlinear/values.i
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@ -49,7 +49,7 @@ class Values {
void update(const gtsam::Values& values); void update(const gtsam::Values& values);
void insert_or_assign(const gtsam::Values& values); void insert_or_assign(const gtsam::Values& values);
void erase(size_t j); void erase(size_t j);
void swap(gtsam::Values& values); void swap(gtsam::Values& other);
bool exists(size_t j) const; bool exists(size_t j) const;
gtsam::KeyVector keys() const; gtsam::KeyVector keys() const;

4
gtsam/sfm/sfm.i
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@ -34,7 +34,7 @@ virtual class SfmTrack : gtsam::SfmTrack2d {
void serialize() const; void serialize() const;
// enabling function to compare objects // enabling function to compare objects
bool equals(const gtsam::SfmTrack& expected, double tol) const; bool equals(const gtsam::SfmTrack& sfmTrack, double tol) const;
}; };
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
@ -67,7 +67,7 @@ class SfmData {
void serialize() const; void serialize() const;
// enabling function to compare objects // enabling function to compare objects
bool equals(const gtsam::SfmData& expected, double tol) const; bool equals(const gtsam::SfmData& sfmData, double tol) const;
}; };
gtsam::SfmData readBal(string filename); gtsam::SfmData readBal(string filename);

6
gtsam/slam/slam.i
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@ -309,7 +309,7 @@ virtual class EssentialMatrixConstraint : gtsam::NoiseModelFactor {
const gtsam::noiseModel::Base *model); const gtsam::noiseModel::Base *model);
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::EssentialMatrixConstraint& other, double tol) const; bool equals(const gtsam::EssentialMatrixConstraint& expected, double tol) const;
gtsam::Vector evaluateError(const gtsam::Pose3& p1, const gtsam::Pose3& p2) const; gtsam::Vector evaluateError(const gtsam::Pose3& p1, const gtsam::Pose3& p2) const;
const gtsam::EssentialMatrix& measured() const; const gtsam::EssentialMatrix& measured() const;
}; };
@ -407,14 +407,14 @@ gtsam::noiseModel::Isotropic* ConvertNoiseModel(gtsam::noiseModel::Base* model,
template <T = {gtsam::Rot2, gtsam::Rot3, gtsam::SO3, gtsam::SO4, gtsam::Pose2, gtsam::Pose3}> template <T = {gtsam::Rot2, gtsam::Rot3, gtsam::SO3, gtsam::SO4, gtsam::Pose2, gtsam::Pose3}>
virtual class FrobeniusFactor : gtsam::NoiseModelFactor { virtual class FrobeniusFactor : gtsam::NoiseModelFactor {
FrobeniusFactor(size_t key1, size_t key2); FrobeniusFactor(size_t key1, size_t key2);
FrobeniusFactor(size_t key1, size_t key2, gtsam::noiseModel::Base* model); FrobeniusFactor(size_t j1, size_t j2, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const T& T1, const T& T2); gtsam::Vector evaluateError(const T& T1, const T& T2);
}; };
template <T = {gtsam::Rot2, gtsam::Rot3, gtsam::SO3, gtsam::SO4, gtsam::Pose2, gtsam::Pose3}> template <T = {gtsam::Rot2, gtsam::Rot3, gtsam::SO3, gtsam::SO4, gtsam::Pose2, gtsam::Pose3}>
virtual class FrobeniusBetweenFactor : gtsam::NoiseModelFactor { virtual class FrobeniusBetweenFactor : gtsam::NoiseModelFactor {
FrobeniusBetweenFactor(size_t key1, size_t key2, const T& T12); FrobeniusBetweenFactor(size_t j1, size_t j2, const T& T12);
FrobeniusBetweenFactor(size_t key1, size_t key2, const T& T12, FrobeniusBetweenFactor(size_t key1, size_t key2, const T& T12,
gtsam::noiseModel::Base* model); gtsam::noiseModel::Base* model);

8
gtsam/symbolic/symbolic.i
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@ -15,7 +15,7 @@ virtual class SymbolicFactor : gtsam::Factor {
SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5); SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5);
SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5, SymbolicFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5,
size_t j6); size_t j6);
static gtsam::SymbolicFactor FromKeys(const gtsam::KeyVector& js); static gtsam::SymbolicFactor FromKeys(const gtsam::KeyVector& keys);
// From Factor // From Factor
void print(string s = "SymbolicFactor", void print(string s = "SymbolicFactor",
@ -35,7 +35,7 @@ virtual class SymbolicFactorGraph {
void print(string s = "SymbolicFactorGraph", void print(string s = "SymbolicFactorGraph",
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const; bool equals(const gtsam::SymbolicFactorGraph& fg, double tol) const;
size_t size() const; size_t size() const;
bool exists(size_t idx) const; bool exists(size_t idx) const;
@ -101,7 +101,7 @@ virtual class SymbolicConditional : gtsam::SymbolicFactor {
// Testable // Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::SymbolicConditional& other, double tol) const; bool equals(const gtsam::SymbolicConditional& c, double tol) const;
// Standard interface // Standard interface
gtsam::Key firstFrontalKey() const; gtsam::Key firstFrontalKey() const;
@ -117,7 +117,7 @@ class SymbolicBayesNet {
void print(string s = "SymbolicBayesNet", void print(string s = "SymbolicBayesNet",
const gtsam::KeyFormatter& keyFormatter = const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::SymbolicBayesNet& other, double tol) const; bool equals(const gtsam::SymbolicBayesNet& bn, double tol) const;
// Standard interface // Standard interface
size_t size() const; size_t size() const;