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

Fixed interface for summarization

release/4.3a0
Alex Cunningham 2013-05-08 10:14:27 +00:00
parent 4e0dbbc2b1
commit e02d57f9cb
1 changed files with 5 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
gtsam.h
View File

@ -1691,20 +1691,15 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor {
// Summarization functionality // Summarization functionality
#include <gtsam/nonlinear/summarization.h> #include <gtsam/nonlinear/summarization.h>
pair<gtsam::GaussianFactorGraph,gtsam::Ordering>
summarize(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values, // Uses partial QR approach by default
const gtsam::KeySet& saved_keys, bool useQR); pair<gtsam::GaussianFactorGraph,gtsam::Ordering> summarize(
pair<gtsam::GaussianFactorGraph,gtsam::Ordering> const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values,
summarize(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values, const gtsam::KeySet& saved_keys);
const gtsam::KeySet& saved_keys); // Defaults to QR;
gtsam::NonlinearFactorGraph summarizeAsNonlinearContainer( gtsam::NonlinearFactorGraph summarizeAsNonlinearContainer(
const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values, const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values,
const gtsam::KeySet& saved_keys, bool useQR); const gtsam::KeySet& saved_keys);
gtsam::NonlinearFactorGraph summarizeAsNonlinearContainer(
const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values,
const gtsam::KeySet& saved_keys); // Defaults to QR
//************************************************************************* //*************************************************************************
// Nonlinear optimizers // Nonlinear optimizers