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