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Wrapped ISAM1

release/4.3a0
Alex Cunningham 2012-08-03 20:23:08 +00:00
parent 73d64d04a8
commit a9864dab23
1 changed files with 40 additions and 7 deletions
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47
gtsam.h
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@ -1028,15 +1028,25 @@ class InvertedOrdering {
class NonlinearFactorGraph { class NonlinearFactorGraph {
NonlinearFactorGraph(); NonlinearFactorGraph();
void print(string s) const; NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph);
size_t size() const;
double error(const gtsam::Values& c) const; // FactorGraph
double probPrime(const gtsam::Values& c) const; void print(string s) const;
gtsam::NonlinearFactor* at(size_t i) const; bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const;
size_t size() const;
bool empty() const;
void remove(size_t i);
size_t nrFactors() const;
void add(const gtsam::NonlinearFactor* factor); void add(const gtsam::NonlinearFactor* factor);
gtsam::Ordering* orderingCOLAMD(const gtsam::Values& c) const; gtsam::NonlinearFactor* at(size_t i) const;
// NonlinearFactorGraph
double error(const gtsam::Values& values) const;
double probPrime(const gtsam::Values& values) const;
gtsam::Ordering* orderingCOLAMD(const gtsam::Values& values) const;
// Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map<gtsam::Key,int>& constraints) const; // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map<gtsam::Key,int>& constraints) const;
gtsam::GaussianFactorGraph* linearize(const gtsam::Values& c, const gtsam::Ordering& ordering) const; gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values,
const gtsam::Ordering& ordering) const;
gtsam::NonlinearFactorGraph clone() const; gtsam::NonlinearFactorGraph clone() const;
}; };
@ -1329,6 +1339,29 @@ class ISAM2 {
gtsam::ISAM2Params params() const; gtsam::ISAM2Params params() const;
}; };
#include <gtsam/nonlinear/NonlinearISAM.h>
class NonlinearISAM {
NonlinearISAM();
NonlinearISAM(int reorderInterval);
void print(string s) const;
void printStats() const;
void saveGraph(string s) const;
gtsam::Values estimate() const;
Matrix marginalCovariance(size_t key) const;
int reorderInterval() const;
int reorderCounter() const;
void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& initialValues);
void reorder_relinearize();
void addKey(size_t key);
void setOrdering(const gtsam::Ordering& new_ordering);
// These might be expensive as instead of a reference the wrapper will make a copy
gtsam::GaussianISAM bayesTree() const;
gtsam::Values getLinearizationPoint() const;
gtsam::Ordering getOrdering() const;
gtsam::NonlinearFactorGraph getFactorsUnsafe() const;
};
//************************************************************************* //*************************************************************************
// Nonlinear factor types // Nonlinear factor types
//************************************************************************* //*************************************************************************