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[with Vadim] wrapped HessianFactor and added a bunch of "add" methods to GaussianFactorGraph. Unfortunately, because overloading is not supported, only the last add works (by design, because we needed it, the HessianFactor add).

release/4.3a0
Frank Dellaert 2012-01-20 04:35:12 +00:00
parent fa200f511a
commit b60de0f03e
1 changed files with 40 additions and 3 deletions
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43
gtsam.h
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@ -286,19 +286,56 @@ class JacobianFactor {
GaussianConditional* eliminateFirst(); GaussianConditional* eliminateFirst();
}; };
class HessianFactor {
HessianFactor(const HessianFactor& gf);
HessianFactor();
HessianFactor(int j, Matrix G, Vector g, double f);
HessianFactor(int j, Vector mu, Matrix Sigma);
HessianFactor(int j1, int j2, Matrix G11, Matrix G12, Vector g1, Matrix G22,
Vector g2, double f);
HessianFactor(int j1, int j2, int j3, Matrix G11, Matrix G12, Matrix G13,
Vector g1, Matrix G22, Matrix G23, Vector g2, Matrix G33, Vector g3,
double f);
HessianFactor(const GaussianConditional& cg);
HessianFactor(const GaussianFactor& factor);
void print(string s) const;
bool equals(const GaussianFactor& lf, double tol) const;
double error(const VectorValues& c) const;
};
class GaussianFactorGraph { class GaussianFactorGraph {
GaussianFactorGraph(); GaussianFactorGraph();
GaussianFactorGraph(const GaussianBayesNet& CBN);
// From FactorGraph
void push_back(GaussianFactor* factor);
void print(string s) const; void print(string s) const;
bool equals(const GaussianFactorGraph& lfgraph, double tol) const; bool equals(const GaussianFactorGraph& lfgraph, double tol) const;
int size() const; int size() const;
void push_back(GaussianFactor* ptr_f);
// Building the graph
void add(JacobianFactor* factor);
void add(Vector b);
void add(int key1, Matrix A1, Vector b, const SharedDiagonal& model);
void add(int key1, Matrix A1, int key2, Matrix A2, Vector b,
const SharedDiagonal& model);
void add(int key1, Matrix A1, int key2, Matrix A2, int key3, Matrix A3,
Vector b, const SharedDiagonal& model);
void add(HessianFactor* factor);
// error and probability
double error(const VectorValues& c) const; double error(const VectorValues& c) const;
double probPrime(const VectorValues& c) const; double probPrime(const VectorValues& c) const;
// combining
static GaussianFactorGraph combine2(const GaussianFactorGraph& lfg1,
const GaussianFactorGraph& lfg2);
void combine(const GaussianFactorGraph& lfg); void combine(const GaussianFactorGraph& lfg);
// Conversion to matrices
Matrix sparseJacobian_() const;
Matrix denseJacobian() const; Matrix denseJacobian() const;
Matrix denseHessian() const; Matrix denseHessian() const;
Matrix sparseJacobian_() const;
}; };
class GaussianSequentialSolver { class GaussianSequentialSolver {