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Init uncomment of fixed lag smoother

release/4.3a0
Jeremy 2019-02-27 01:57:39 -05:00
parent c84496632f
commit dbc0799765
1 changed files with 125 additions and 125 deletions
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250
gtsam_unstable/gtsam_unstable.h
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@ -505,132 +505,132 @@ virtual class DiscreteEulerPoincareHelicopter : gtsam::NoiseModelFactor {
//************************************************************************* //*************************************************************************
// nonlinear // nonlinear
//************************************************************************* //*************************************************************************
// #include <gtsam_unstable/nonlinear/sequentialSummarization.h> #include <gtsam_unstable/nonlinear/sequentialSummarization.h>
// gtsam::GaussianFactorGraph* summarizeGraphSequential( gtsam::GaussianFactorGraph* summarizeGraphSequential(
// const gtsam::GaussianFactorGraph& full_graph, const gtsam::KeyVector& indices); const gtsam::GaussianFactorGraph& full_graph, const gtsam::KeyVector& indices);
// gtsam::GaussianFactorGraph* summarizeGraphSequential( gtsam::GaussianFactorGraph* summarizeGraphSequential(
// const gtsam::GaussianFactorGraph& full_graph, const gtsam::Ordering& ordering, const gtsam::KeySet& saved_keys); const gtsam::GaussianFactorGraph& full_graph, const gtsam::Ordering& ordering, const gtsam::KeySet& saved_keys);
// #include <gtsam_unstable/nonlinear/FixedLagSmoother.h> #include <gtsam_unstable/nonlinear/FixedLagSmoother.h>
// class FixedLagSmootherKeyTimestampMapValue { class FixedLagSmootherKeyTimestampMapValue {
// FixedLagSmootherKeyTimestampMapValue(const gtsam::Key& key, double timestamp); FixedLagSmootherKeyTimestampMapValue(const gtsam::Key& key, double timestamp);
// FixedLagSmootherKeyTimestampMapValue(const gtsam::FixedLagSmootherKeyTimestampMapValue& other); FixedLagSmootherKeyTimestampMapValue(const gtsam::FixedLagSmootherKeyTimestampMapValue& other);
// }; };
//
// class FixedLagSmootherKeyTimestampMap { class FixedLagSmootherKeyTimestampMap {
// FixedLagSmootherKeyTimestampMap(); FixedLagSmootherKeyTimestampMap();
// FixedLagSmootherKeyTimestampMap(const gtsam::FixedLagSmootherKeyTimestampMap& other); FixedLagSmootherKeyTimestampMap(const gtsam::FixedLagSmootherKeyTimestampMap& other);
//
// // Note: no print function // Note: no print function
//
// // common STL methods // common STL methods
// size_t size() const; size_t size() const;
// bool empty() const; bool empty() const;
// void clear(); void clear();
//
// double at(const gtsam::Key& key) const; double at(const gtsam::Key& key) const;
// void insert(const gtsam::FixedLagSmootherKeyTimestampMapValue& value); void insert(const gtsam::FixedLagSmootherKeyTimestampMapValue& value);
// }; };
//
// class FixedLagSmootherResult { class FixedLagSmootherResult {
// size_t getIterations() const; size_t getIterations() const;
// size_t getNonlinearVariables() const; size_t getNonlinearVariables() const;
// size_t getLinearVariables() const; size_t getLinearVariables() const;
// double getError() const; double getError() const;
// }; };
//
// #include <gtsam_unstable/nonlinear/FixedLagSmoother.h> #include <gtsam_unstable/nonlinear/FixedLagSmoother.h>
// virtual class FixedLagSmoother { virtual class FixedLagSmoother {
// void print(string s) const; void print(string s) const;
// bool equals(const gtsam::FixedLagSmoother& rhs, double tol) const; bool equals(const gtsam::FixedLagSmoother& rhs, double tol) const;
//
// gtsam::FixedLagSmootherKeyTimestampMap timestamps() const; gtsam::FixedLagSmootherKeyTimestampMap timestamps() const;
// double smootherLag() const; double smootherLag() const;
//
// gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FixedLagSmootherKeyTimestampMap& timestamps); gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FixedLagSmootherKeyTimestampMap& timestamps);
// gtsam::Values calculateEstimate() const; gtsam::Values calculateEstimate() const;
// }; };
//
// #include <gtsam_unstable/nonlinear/BatchFixedLagSmoother.h> #include <gtsam_unstable/nonlinear/BatchFixedLagSmoother.h>
// virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother { virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
// BatchFixedLagSmoother(); BatchFixedLagSmoother();
// BatchFixedLagSmoother(double smootherLag); BatchFixedLagSmoother(double smootherLag);
// BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& params); BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& params);
//
// gtsam::LevenbergMarquardtParams params() const; gtsam::LevenbergMarquardtParams params() const;
// }; };
//
// #include <gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h> #include <gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h>
// virtual class IncrementalFixedLagSmoother : gtsam::FixedLagSmoother { virtual class IncrementalFixedLagSmoother : gtsam::FixedLagSmoother {
// IncrementalFixedLagSmoother(); IncrementalFixedLagSmoother();
// IncrementalFixedLagSmoother(double smootherLag); IncrementalFixedLagSmoother(double smootherLag);
// IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& params); IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& params);
//
// gtsam::ISAM2Params params() const; gtsam::ISAM2Params params() const;
// }; };
//
// #include <gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h> #include <gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h>
// virtual class ConcurrentFilter { virtual class ConcurrentFilter {
// void print(string s) const; void print(string s) const;
// bool equals(const gtsam::ConcurrentFilter& rhs, double tol) const; bool equals(const gtsam::ConcurrentFilter& rhs, double tol) const;
// }; };
//
// virtual class ConcurrentSmoother { virtual class ConcurrentSmoother {
// void print(string s) const; void print(string s) const;
// bool equals(const gtsam::ConcurrentSmoother& rhs, double tol) const; bool equals(const gtsam::ConcurrentSmoother& rhs, double tol) const;
// }; };
//
// // Synchronize function // Synchronize function
// void synchronize(gtsam::ConcurrentFilter& filter, gtsam::ConcurrentSmoother& smoother); void synchronize(gtsam::ConcurrentFilter& filter, gtsam::ConcurrentSmoother& smoother);
//
// #include <gtsam_unstable/nonlinear/ConcurrentBatchFilter.h> #include <gtsam_unstable/nonlinear/ConcurrentBatchFilter.h>
// class ConcurrentBatchFilterResult { class ConcurrentBatchFilterResult {
// size_t getIterations() const; size_t getIterations() const;
// size_t getLambdas() const; size_t getLambdas() const;
// size_t getNonlinearVariables() const; size_t getNonlinearVariables() const;
// size_t getLinearVariables() const; size_t getLinearVariables() const;
// double getError() const; double getError() const;
// }; };
//
// virtual class ConcurrentBatchFilter : gtsam::ConcurrentFilter { virtual class ConcurrentBatchFilter : gtsam::ConcurrentFilter {
// ConcurrentBatchFilter(); ConcurrentBatchFilter();
// ConcurrentBatchFilter(const gtsam::LevenbergMarquardtParams& parameters); ConcurrentBatchFilter(const gtsam::LevenbergMarquardtParams& parameters);
//
// gtsam::NonlinearFactorGraph getFactors() const; gtsam::NonlinearFactorGraph getFactors() const;
// gtsam::Values getLinearizationPoint() const; gtsam::Values getLinearizationPoint() const;
// gtsam::Ordering getOrdering() const; gtsam::Ordering getOrdering() const;
// gtsam::VectorValues getDelta() const; gtsam::VectorValues getDelta() const;
//
// gtsam::ConcurrentBatchFilterResult update(); gtsam::ConcurrentBatchFilterResult update();
// gtsam::ConcurrentBatchFilterResult update(const gtsam::NonlinearFactorGraph& newFactors); gtsam::ConcurrentBatchFilterResult update(const gtsam::NonlinearFactorGraph& newFactors);
// gtsam::ConcurrentBatchFilterResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta); gtsam::ConcurrentBatchFilterResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta);
// gtsam::ConcurrentBatchFilterResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyList& keysToMove); gtsam::ConcurrentBatchFilterResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyList& keysToMove);
// gtsam::Values calculateEstimate() const; gtsam::Values calculateEstimate() const;
// }; };
//
// #include <gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h> #include <gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h>
// class ConcurrentBatchSmootherResult { class ConcurrentBatchSmootherResult {
// size_t getIterations() const; size_t getIterations() const;
// size_t getLambdas() const; size_t getLambdas() const;
// size_t getNonlinearVariables() const; size_t getNonlinearVariables() const;
// size_t getLinearVariables() const; size_t getLinearVariables() const;
// double getError() const; double getError() const;
// }; };
//
// virtual class ConcurrentBatchSmoother : gtsam::ConcurrentSmoother { virtual class ConcurrentBatchSmoother : gtsam::ConcurrentSmoother {
// ConcurrentBatchSmoother(); ConcurrentBatchSmoother();
// ConcurrentBatchSmoother(const gtsam::LevenbergMarquardtParams& parameters); ConcurrentBatchSmoother(const gtsam::LevenbergMarquardtParams& parameters);
//
// gtsam::NonlinearFactorGraph getFactors() const; gtsam::NonlinearFactorGraph getFactors() const;
// gtsam::Values getLinearizationPoint() const; gtsam::Values getLinearizationPoint() const;
// gtsam::Ordering getOrdering() const; gtsam::Ordering getOrdering() const;
// gtsam::VectorValues getDelta() const; gtsam::VectorValues getDelta() const;
//
// gtsam::ConcurrentBatchSmootherResult update(); gtsam::ConcurrentBatchSmootherResult update();
// gtsam::ConcurrentBatchSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors); gtsam::ConcurrentBatchSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors);
// gtsam::ConcurrentBatchSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta); gtsam::ConcurrentBatchSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta);
// gtsam::Values calculateEstimate() const; gtsam::Values calculateEstimate() const;
// }; };
//************************************************************************* //*************************************************************************
// slam // slam