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ISAM2: wrap full update method and error method

release/4.3a0
Varun Agrawal 2020-01-30 15:17:04 -05:00
parent 7703b7dca2
commit d3bcfddfb5
1 changed files with 5 additions and 3 deletions
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8
gtsam/nonlinear/nonlinear.i
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@ -507,18 +507,18 @@ class ISAM2 {
gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
const gtsam::Values& newTheta, const gtsam::Values& newTheta,
const gtsam::FactorIndices& removeFactorIndices, const gtsam::FactorIndices& removeFactorIndices,
gtsam::KeyGroupMap& constrainedKeys, const gtsam::KeyGroupMap& constrainedKeys,
const gtsam::KeyList& noRelinKeys); const gtsam::KeyList& noRelinKeys);
gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
const gtsam::Values& newTheta, const gtsam::Values& newTheta,
const gtsam::FactorIndices& removeFactorIndices, const gtsam::FactorIndices& removeFactorIndices,
gtsam::KeyGroupMap& constrainedKeys, const gtsam::KeyGroupMap& constrainedKeys,
const gtsam::KeyList& noRelinKeys, const gtsam::KeyList& noRelinKeys,
const gtsam::KeyList& extraReelimKeys); const gtsam::KeyList& extraReelimKeys);
gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
const gtsam::Values& newTheta, const gtsam::Values& newTheta,
const gtsam::FactorIndices& removeFactorIndices, const gtsam::FactorIndices& removeFactorIndices,
gtsam::KeyGroupMap& constrainedKeys, const gtsam::KeyGroupMap& constrainedKeys,
const gtsam::KeyList& noRelinKeys, const gtsam::KeyList& noRelinKeys,
const gtsam::KeyList& extraReelimKeys, const gtsam::KeyList& extraReelimKeys,
bool force_relinearize); bool force_relinearize);
@ -527,6 +527,8 @@ class ISAM2 {
const gtsam::Values& newTheta, const gtsam::Values& newTheta,
const gtsam::ISAM2UpdateParams& updateParams); const gtsam::ISAM2UpdateParams& updateParams);
double error(const gtsam::VectorValues& values) const;
gtsam::Values getLinearizationPoint() const; gtsam::Values getLinearizationPoint() const;
bool valueExists(gtsam::Key key) const; bool valueExists(gtsam::Key key) const;
gtsam::Values calculateEstimate() const; gtsam::Values calculateEstimate() const;