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wrap other ISAM2 methods

release/4.3a0
Varun Agrawal 2021-11-29 19:39:41 -05:00
parent 1fe7822981
commit bee289880a
1 changed files with 6 additions and 1 deletions
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7
gtsam/nonlinear/nonlinear.i
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@ -749,12 +749,17 @@ class ISAM2 {
gtsam::PinholeCamera<gtsam::Cal3Fisheye>, gtsam::PinholeCamera<gtsam::Cal3Fisheye>,
gtsam::PinholeCamera<gtsam::Cal3Unified>, Vector, Matrix}> gtsam::PinholeCamera<gtsam::Cal3Unified>, Vector, Matrix}>
VALUE calculateEstimate(size_t key) const; VALUE calculateEstimate(size_t key) const;
gtsam::Values calculateBestEstimate() const;
Matrix marginalCovariance(size_t key) const; Matrix marginalCovariance(size_t key) const;
gtsam::Values calculateBestEstimate() const;
gtsam::VectorValues getDelta() const; gtsam::VectorValues getDelta() const;
double error(const gtsam::VectorValues& x) const;
gtsam::NonlinearFactorGraph getFactorsUnsafe() const; gtsam::NonlinearFactorGraph getFactorsUnsafe() const;
gtsam::VariableIndex getVariableIndex() const; gtsam::VariableIndex getVariableIndex() const;
const gtsam::KeySet& getFixedVariables() const;
gtsam::ISAM2Params params() const; gtsam::ISAM2Params params() const;
void printStats() const;
gtsam::VectorValues gradientAtZero() const;
}; };
#include <gtsam/nonlinear/NonlinearISAM.h> #include <gtsam/nonlinear/NonlinearISAM.h>