12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

use direct memeber access for ISAM2Params

release/4.3a0
senselessDev 2022-01-22 18:54:52 +01:00
parent 0814efafd7
commit bcbd26c4fb
2 changed files with 7 additions and 48 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
gtsam/nonlinear/ISAM2Params.h
View File

@ -300,22 +300,11 @@ struct GTSAM_EXPORT ISAM2Params {
RelinearizationThreshold getRelinearizeThreshold() const { RelinearizationThreshold getRelinearizeThreshold() const {
return relinearizeThreshold; return relinearizeThreshold;
} }
int getRelinearizeSkip() const { return relinearizeSkip; }
bool isEnableRelinearization() const { return enableRelinearization; }
bool isEvaluateNonlinearError() const { return evaluateNonlinearError; }
std::string getFactorization() const { std::string getFactorization() const {
return factorizationTranslator(factorization); return factorizationTranslator(factorization);
} }
bool isCacheLinearizedFactors() const { return cacheLinearizedFactors; } bool isCacheLinearizedFactors() const { return cacheLinearizedFactors; }
KeyFormatter getKeyFormatter() const { return keyFormatter; } KeyFormatter getKeyFormatter() const { return keyFormatter; }
bool isEnableDetailedResults() const { return enableDetailedResults; }
bool isEnablePartialRelinearizationCheck() const {
return enablePartialRelinearizationCheck;
}
bool isFindUnusedFactorSlots() const {
return findUnusedFactorSlots;
}
void setOptimizationParams(OptimizationParams optimizationParams) { void setOptimizationParams(OptimizationParams optimizationParams) {
this->optimizationParams = optimizationParams; this->optimizationParams = optimizationParams;
@ -323,34 +312,12 @@ struct GTSAM_EXPORT ISAM2Params {
void setRelinearizeThreshold(RelinearizationThreshold relinearizeThreshold) { void setRelinearizeThreshold(RelinearizationThreshold relinearizeThreshold) {
this->relinearizeThreshold = relinearizeThreshold; this->relinearizeThreshold = relinearizeThreshold;
} }
void setRelinearizeSkip(int relinearizeSkip) {
this->relinearizeSkip = relinearizeSkip;
}
void setEnableRelinearization(bool enableRelinearization) {
this->enableRelinearization = enableRelinearization;
}
void setEvaluateNonlinearError(bool evaluateNonlinearError) {
this->evaluateNonlinearError = evaluateNonlinearError;
}
void setFactorization(const std::string& factorization) { void setFactorization(const std::string& factorization) {
this->factorization = factorizationTranslator(factorization); this->factorization = factorizationTranslator(factorization);
} }
void setCacheLinearizedFactors(bool cacheLinearizedFactors) {
this->cacheLinearizedFactors = cacheLinearizedFactors;
}
void setKeyFormatter(KeyFormatter keyFormatter) { void setKeyFormatter(KeyFormatter keyFormatter) {
this->keyFormatter = keyFormatter; this->keyFormatter = keyFormatter;
} }
void setEnableDetailedResults(bool enableDetailedResults) {
this->enableDetailedResults = enableDetailedResults;
}
void setEnablePartialRelinearizationCheck(
bool enablePartialRelinearizationCheck) {
this->enablePartialRelinearizationCheck = enablePartialRelinearizationCheck;
}
void setFindUnusedFactorSlots(bool findUnusedFactorSlots) {
this->findUnusedFactorSlots = findUnusedFactorSlots;
}
GaussianFactorGraph::Eliminate getEliminationFunction() const { GaussianFactorGraph::Eliminate getEliminationFunction() const {
return factorization == CHOLESKY return factorization == CHOLESKY

22
gtsam/nonlinear/nonlinear.i
View File

@ -681,24 +681,16 @@ class ISAM2Params {
void setOptimizationParams(const gtsam::ISAM2DoglegParams& dogleg_params); void setOptimizationParams(const gtsam::ISAM2DoglegParams& dogleg_params);
void setRelinearizeThreshold(double threshold); void setRelinearizeThreshold(double threshold);
void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& threshold_map); void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& threshold_map);
int getRelinearizeSkip() const;
void setRelinearizeSkip(int relinearizeSkip);
bool isEnableRelinearization() const;
void setEnableRelinearization(bool enableRelinearization);
bool isEvaluateNonlinearError() const;
void setEvaluateNonlinearError(bool evaluateNonlinearError);
string getFactorization() const; string getFactorization() const;
void setFactorization(string factorization); void setFactorization(string factorization);
bool isCacheLinearizedFactors() const;
void setCacheLinearizedFactors(bool cacheLinearizedFactors);
bool isEnableDetailedResults() const;
void setEnableDetailedResults(bool enableDetailedResults);
bool isEnablePartialRelinearizationCheck() const;
void setEnablePartialRelinearizationCheck(
bool enablePartialRelinearizationCheck);
bool isFindUnusedFactorSlots() const;
void setFindUnusedFactorSlots(bool findUnusedFactorSlots);
int relinearizeSkip;
bool enableRelinearization;
bool evaluateNonlinearError;
bool cacheLinearizedFactors;
bool enableDetailedResults;
bool enablePartialRelinearizationCheck;
bool findUnusedFactorSlots;
}; };
class ISAM2Clique { class ISAM2Clique {