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Merge pull request #731 from borglab/fix/wrapper-double 

Double + NavState in the wrapper
release/4.3a0
Varun Agrawal 2021-04-07 12:54:52 -04:00 committed by GitHub
parent 37ea955d2c 9922608d03
commit ad85fdc54e
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 31 additions and 4 deletions
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35
gtsam/gtsam.i
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@ -2091,8 +2091,14 @@ class NonlinearFactorGraph {
gtsam::KeySet keys() const; gtsam::KeySet keys() const;
gtsam::KeyVector keyVector() const; gtsam::KeyVector keyVector() const;
template<T = {double, Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias}> template <T = {double, Vector, gtsam::Point2, gtsam::StereoPoint2,
void addPrior(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4,
gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,
gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2,
gtsam::PinholeCamera<gtsam::Cal3Bundler>,
gtsam::imuBias::ConstantBias}>
void addPrior(size_t key, const T& prior,
const gtsam::noiseModel::Base* noiseModel);
// NonlinearFactorGraph // NonlinearFactorGraph
void printErrors(const gtsam::Values& values) const; void printErrors(const gtsam::Values& values) const;
@ -2561,7 +2567,26 @@ class NonlinearISAM {
#include <gtsam/geometry/StereoPoint2.h> #include <gtsam/geometry/StereoPoint2.h>
#include <gtsam/nonlinear/PriorFactor.h> #include <gtsam/nonlinear/PriorFactor.h>
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}> template <T = {double,
Vector,
gtsam::Point2,
gtsam::StereoPoint2,
gtsam::Point3,
gtsam::Rot2,
gtsam::SO3,
gtsam::SO4,
gtsam::SOn,
gtsam::Rot3,
gtsam::Pose2,
gtsam::Pose3,
gtsam::Unit3,
gtsam::Cal3_S2,
gtsam::Cal3DS2,
gtsam::Cal3Bundler,
gtsam::CalibratedCamera,
gtsam::PinholeCameraCal3_S2,
gtsam::imuBias::ConstantBias,
gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
virtual class PriorFactor : gtsam::NoiseModelFactor { virtual class PriorFactor : gtsam::NoiseModelFactor {
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
T prior() const; T prior() const;
@ -2573,7 +2598,6 @@ virtual class PriorFactor : gtsam::NoiseModelFactor {
void pickle() const; void pickle() const;
}; };
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::imuBias::ConstantBias}> template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::imuBias::ConstantBias}>
virtual class BetweenFactor : gtsam::NoiseModelFactor { virtual class BetweenFactor : gtsam::NoiseModelFactor {
@ -3194,6 +3218,9 @@ class NavState {
gtsam::Point3 position() const; gtsam::Point3 position() const;
Vector velocity() const; Vector velocity() const;
gtsam::Pose3 pose() const; gtsam::Pose3 pose() const;
gtsam::NavState retract(const Vector& x) const;
Vector localCoordinates(const gtsam::NavState& g) const;
}; };
#include <gtsam/navigation/PreintegratedRotation.h> #include <gtsam/navigation/PreintegratedRotation.h>