[cython] remove copy constructor requirement
Using make_shared[C](other) instead of shared_ptr[C](new C(other)) to leverage the implicit default constructor inside C++release/4.3a0
Duy-Nguyen Ta
parent
ff75d63876
commit
ed8f7c5f82
115
cython/gtsam.h
115
cython/gtsam.h
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@ -174,7 +174,6 @@ virtual class Value {
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class LieScalar {
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// Standard constructors
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LieScalar();
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LieScalar(const gtsam::LieScalar& l);
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LieScalar(double d);
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// Standard interface
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@ -204,7 +203,6 @@ class LieScalar {
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class LieVector {
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// Standard constructors
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LieVector();
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LieVector(const gtsam::LieVector& l);
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LieVector(Vector v);
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// Standard interface
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@ -238,7 +236,6 @@ class LieMatrix {
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// Standard constructors
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LieMatrix();
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LieMatrix(Matrix v);
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LieMatrix(const gtsam::LieMatrix& l);
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// Standard interface
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Matrix matrix() const;
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@ -276,7 +273,6 @@ class Point2 {
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Point2();
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Point2(double x, double y);
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Point2(Vector v);
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Point2(const gtsam::Point2& l);
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// Testable
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void print(string s) const;
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@ -328,7 +324,6 @@ class StereoPoint2 {
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// Standard Constructors
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StereoPoint2();
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StereoPoint2(double uL, double uR, double v);
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StereoPoint2(const gtsam::StereoPoint2& l);
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// Testable
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void print(string s) const;
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@ -364,7 +359,6 @@ class Point3 {
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Point3();
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Point3(double x, double y, double z);
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Point3(Vector v);
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Point3(const gtsam::Point3& l);
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// Testable
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void print(string s) const;
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@ -388,8 +382,6 @@ class Rot2 {
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// Standard Constructors and Named Constructors
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Rot2();
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Rot2(double theta);
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Rot2(const gtsam::Rot2& l);
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static gtsam::Rot2 fromAngle(double theta);
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static gtsam::Rot2 fromDegrees(double theta);
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static gtsam::Rot2 fromCosSin(double c, double s);
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@ -434,8 +426,6 @@ class Rot3 {
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// Standard Constructors and Named Constructors
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Rot3();
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Rot3(Matrix R);
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Rot3(const gtsam::Rot3& l);
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static gtsam::Rot3 Rx(double t);
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static gtsam::Rot3 Ry(double t);
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static gtsam::Rot3 Rz(double t);
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@ -589,8 +579,6 @@ class Pose3 {
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class Pose3Vector
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{
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Pose3Vector();
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Pose3Vector(const gtsam::Pose3Vector& l);
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size_t size() const;
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bool empty() const;
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gtsam::Pose3 at(size_t n) const;
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@ -601,8 +589,7 @@ class Pose3Vector
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class Unit3 {
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// Standard Constructors
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Unit3();
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Unit3(const gtsam::Point3& p);
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Unit3(const gtsam::Unit3& other);
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Unit3(const gtsam::Point3& pose);
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// Testable
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void print(string s) const;
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@ -621,10 +608,8 @@ class Unit3 {
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#include <gtsam/geometry/EssentialMatrix.h>
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class EssentialMatrix {
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EssentialMatrix();
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// Standard Constructors
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EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Unit3& aTb);
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EssentialMatrix(const gtsam::EssentialMatrix& other);
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// Testable
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void print(string s) const;
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@ -650,7 +635,6 @@ class Cal3_S2 {
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Cal3_S2(double fx, double fy, double s, double u0, double v0);
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Cal3_S2(Vector v);
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Cal3_S2(double fov, int w, int h);
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Cal3_S2(const gtsam::Cal3_S2& other);
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// Testable
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void print(string s) const;
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@ -685,7 +669,6 @@ class Cal3_S2 {
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virtual class Cal3DS2_Base {
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// Standard Constructors
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Cal3DS2_Base();
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Cal3DS2_Base(const gtsam::Cal3DS2_Base& other);
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// Testable
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void print(string s) const;
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@ -714,7 +697,6 @@ virtual class Cal3DS2 : gtsam::Cal3DS2_Base {
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Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, double k2);
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Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1, double p2);
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Cal3DS2(Vector v);
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Cal3DS2(const gtsam::Cal3DS2& other);
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// Testable
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bool equals(const gtsam::Cal3DS2& rhs, double tol) const;
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@ -736,7 +718,6 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base {
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Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1, double k2);
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Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1, double p2, double xi);
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Cal3Unified(Vector v);
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Cal3Unified(const gtsam::Cal3Unified& other);
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// Testable
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bool equals(const gtsam::Cal3Unified& rhs, double tol) const;
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@ -762,7 +743,6 @@ class Cal3_S2Stereo {
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Cal3_S2Stereo();
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Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b);
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Cal3_S2Stereo(Vector v);
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Cal3_S2Stereo(const gtsam::Cal3_S2Stereo& other);
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// Testable
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void print(string s) const;
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@ -783,7 +763,6 @@ class Cal3Bundler {
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// Standard Constructors
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Cal3Bundler();
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Cal3Bundler(double fx, double k1, double k2, double u0, double v0);
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Cal3Bundler(const gtsam::Cal3Bundler& other);
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// Testable
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void print(string s) const;
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@ -821,7 +800,6 @@ class CalibratedCamera {
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CalibratedCamera(const gtsam::Pose3& pose);
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CalibratedCamera(const Vector& v);
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static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, double height);
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CalibratedCamera(const gtsam::CalibratedCamera& other);
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// Testable
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void print(string s) const;
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@ -850,7 +828,6 @@ template<CALIBRATION>
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class PinholeCamera {
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// Standard Constructors and Named Constructors
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PinholeCamera();
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PinholeCamera(const This& cam);
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PinholeCamera(const gtsam::Pose3& pose);
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PinholeCamera(const gtsam::Pose3& pose, const CALIBRATION& K);
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static This Level(const CALIBRATION& K, const gtsam::Pose2& pose, double height);
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@ -894,7 +871,6 @@ virtual class SimpleCamera {
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static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height);
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static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye, const gtsam::Point3& target,
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const gtsam::Point3& upVector, const gtsam::Cal3_S2& K);
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SimpleCamera(const gtsam::SimpleCamera& other);
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// Testable
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void print(string s) const;
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@ -935,7 +911,6 @@ class StereoCamera {
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// Standard Constructors and Named Constructors
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StereoCamera();
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StereoCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2Stereo* K);
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StereoCamera(const gtsam::StereoCamera& other);
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// Testable
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void print(string s) const;
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@ -999,7 +974,6 @@ virtual class SymbolicFactorGraph {
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SymbolicFactorGraph();
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SymbolicFactorGraph(const gtsam::SymbolicBayesNet& bayesNet);
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SymbolicFactorGraph(const gtsam::SymbolicBayesTree& bayesTree);
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SymbolicFactorGraph(const gtsam::SymbolicFactorGraph& other);
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// From FactorGraph
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void push_back(gtsam::SymbolicFactor* factor);
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@ -1223,7 +1197,6 @@ virtual class Base {
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virtual class Null: gtsam::noiseModel::mEstimator::Base {
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Null();
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Null(const gtsam::noiseModel::mEstimator::Null& other);
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void print(string s) const;
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static gtsam::noiseModel::mEstimator::Null* Create();
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@ -1233,7 +1206,6 @@ virtual class Null: gtsam::noiseModel::mEstimator::Base {
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virtual class Fair: gtsam::noiseModel::mEstimator::Base {
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Fair(double c);
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Fair(const gtsam::noiseModel::mEstimator::Fair& other);
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void print(string s) const;
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static gtsam::noiseModel::mEstimator::Fair* Create(double c);
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@ -1243,8 +1215,6 @@ virtual class Fair: gtsam::noiseModel::mEstimator::Base {
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virtual class Huber: gtsam::noiseModel::mEstimator::Base {
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Huber(double k);
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Huber(const gtsam::noiseModel::mEstimator::Huber& other);
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void print(string s) const;
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static gtsam::noiseModel::mEstimator::Huber* Create(double k);
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@ -1254,8 +1224,6 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base {
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virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
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Tukey(double k);
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Tukey(const gtsam::noiseModel::mEstimator::Tukey& other);
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void print(string s) const;
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static gtsam::noiseModel::mEstimator::Tukey* Create(double k);
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@ -1267,8 +1235,6 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
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virtual class Robust : gtsam::noiseModel::Base {
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Robust(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
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Robust(const gtsam::noiseModel::Robust& other);
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static gtsam::noiseModel::Robust* Create(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
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void print(string s) const;
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@ -1284,8 +1250,6 @@ class Sampler {
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Sampler(gtsam::noiseModel::Diagonal* model, int seed);
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Sampler(Vector sigmas, int seed);
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Sampler(int seed);
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Sampler(const gtsam::Sampler& other);
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//Standard Interface
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size_t dim() const;
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@ -1362,7 +1326,6 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
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JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
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Vector b, const gtsam::noiseModel::Diagonal* model);
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JacobianFactor(const gtsam::GaussianFactorGraph& graph);
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JacobianFactor(const gtsam::JacobianFactor& other);
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//Testable
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void print(string s) const;
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@ -1408,7 +1371,6 @@ virtual class HessianFactor : gtsam::GaussianFactor {
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Vector g1, Matrix G22, Matrix G23, Vector g2, Matrix G33, Vector g3,
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double f);
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HessianFactor(const gtsam::GaussianFactorGraph& factors);
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HessianFactor(const gtsam::HessianFactor& other);
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//Testable
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size_t size() const;
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@ -1432,7 +1394,6 @@ class GaussianFactorGraph {
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GaussianFactorGraph();
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GaussianFactorGraph(const gtsam::GaussianBayesNet& bayesNet);
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GaussianFactorGraph(const gtsam::GaussianBayesTree& bayesTree);
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GaussianFactorGraph(const gtsam::GaussianFactorGraph& other);
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// From FactorGraph
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void print(string s) const;
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@ -1509,7 +1470,6 @@ class GaussianFactorGraph {
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#include <gtsam/linear/GaussianConditional.h>
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virtual class GaussianConditional : gtsam::GaussianFactor {
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//Constructors
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GaussianConditional();
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GaussianConditional(size_t key, Vector d, Matrix R, const gtsam::noiseModel::Diagonal* sigmas);
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GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
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const gtsam::noiseModel::Diagonal* sigmas);
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@ -1518,10 +1478,9 @@ virtual class GaussianConditional : gtsam::GaussianFactor {
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//Constructors with no noise model
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GaussianConditional(size_t key, Vector d, Matrix R);
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GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S);
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GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
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size_t name2, Matrix T);
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GaussianConditional(const gtsam::GaussianConditional& other);
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GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S);
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GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
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size_t name2, Matrix T);
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//Standard Interface
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void print(string s) const;
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@ -1540,8 +1499,6 @@ virtual class GaussianConditional : gtsam::GaussianFactor {
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#include <gtsam/linear/GaussianDensity.h>
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virtual class GaussianDensity : gtsam::GaussianConditional {
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//Constructors
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GaussianDensity();
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GaussianDensity(const gtsam::GaussianDensity& other);
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GaussianDensity(size_t key, Vector d, Matrix R, const gtsam::noiseModel::Diagonal* sigmas);
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//Standard Interface
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@ -1555,7 +1512,6 @@ virtual class GaussianDensity : gtsam::GaussianConditional {
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virtual class GaussianBayesNet {
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//Constructors
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GaussianBayesNet();
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GaussianBayesNet(const gtsam::GaussianBayesNet& other);
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GaussianBayesNet(const gtsam::GaussianConditional* conditional);
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// Testable
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@ -1615,7 +1571,6 @@ virtual class GaussianBayesTree {
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class Errors {
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//Constructors
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Errors();
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Errors(const gtsam::Errors& other);
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Errors(const gtsam::VectorValues& V);
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//Testable
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@ -1627,7 +1582,6 @@ class Errors {
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class GaussianISAM {
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//Constructor
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GaussianISAM();
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GaussianISAM(const gtsam::GaussianISAM& other);
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//Standard Interface
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void update(const gtsam::GaussianFactorGraph& newFactors);
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@ -1637,7 +1591,6 @@ class GaussianISAM {
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#include <gtsam/linear/IterativeSolver.h>
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virtual class IterativeOptimizationParameters {
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IterativeOptimizationParameters(const gtsam::IterativeOptimizationParameters& other);
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string getVerbosity() const;
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void setVerbosity(string s) ;
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void print() const;
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@ -1651,8 +1604,6 @@ virtual class IterativeOptimizationParameters {
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#include <gtsam/linear/ConjugateGradientSolver.h>
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virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParameters {
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ConjugateGradientParameters();
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ConjugateGradientParameters(const gtsam::ConjugateGradientParameters& other);
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int getMinIterations() const ;
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int getMaxIterations() const ;
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int getReset() const;
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@ -1670,23 +1621,18 @@ virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParamete
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#include <gtsam/linear/SubgraphSolver.h>
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virtual class SubgraphSolverParameters : gtsam::ConjugateGradientParameters {
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SubgraphSolverParameters();
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SubgraphSolverParameters(const gtsam::SubgraphSolverParameters& other);
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void print() const;
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};
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virtual class SubgraphSolver {
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SubgraphSolver(const gtsam::GaussianFactorGraph &A, const gtsam::SubgraphSolverParameters ¶meters, const gtsam::Ordering& ordering);
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SubgraphSolver(const gtsam::GaussianFactorGraph &Ab1, const gtsam::GaussianFactorGraph &Ab2, const gtsam::SubgraphSolverParameters ¶meters, const gtsam::Ordering& ordering);
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SubgraphSolver(const gtsam::SubgraphSolver& other);
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gtsam::VectorValues optimize() const;
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};
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#include <gtsam/linear/KalmanFilter.h>
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class KalmanFilter {
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KalmanFilter(size_t n);
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KalmanFilter(const gtsam::KalmanFilter& other);
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// gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0);
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gtsam::GaussianDensity* init(Vector x0, Matrix P0);
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void print(string s) const;
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@ -1722,9 +1668,8 @@ void PrintKeySet (const gtsam::KeySet& keys, string s);
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#include <gtsam/inference/LabeledSymbol.h>
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class LabeledSymbol {
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LabeledSymbol();
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LabeledSymbol(const gtsam::LabeledSymbol& key);
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LabeledSymbol(size_t full_key);
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LabeledSymbol(const gtsam::LabeledSymbol& key);
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LabeledSymbol(unsigned char valType, unsigned char label, size_t j);
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size_t key() const;
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@ -1901,11 +1846,7 @@ class Values {
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void update(size_t j, Vector t);
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void update(size_t j, Matrix t);
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template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
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gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
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gtsam::Cal3Bundler, gtsam::EssentialMatrix,
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gtsam::SimpleCamera, gtsam::imuBias::ConstantBias,
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Vector, Matrix}>
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template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::imuBias::ConstantBias, Vector, Matrix}>
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T at(size_t j);
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/// version for double
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@ -2008,7 +1949,6 @@ typedef gtsam::FastMap<gtsam::Key,int> KeyGroupMap;
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class Marginals {
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Marginals(const gtsam::NonlinearFactorGraph& graph,
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const gtsam::Values& solution);
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Marginals(const gtsam::Marginals& other);
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void print(string s) const;
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Matrix marginalCovariance(size_t variable) const;
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@ -2018,7 +1958,6 @@ class Marginals {
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};
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class JointMarginal {
|
||||
JointMarginal(const JointMarginal& j);
|
||||
Matrix at(size_t iVariable, size_t jVariable) const;
|
||||
Matrix fullMatrix() const;
|
||||
void print(string s) const;
|
||||
|
|
@ -2027,7 +1966,6 @@ class JointMarginal {
|
|||
|
||||
#include <gtsam/nonlinear/LinearContainerFactor.h>
|
||||
virtual class LinearContainerFactor : gtsam::NonlinearFactor {
|
||||
LinearContainerFactor(const gtsam::LinearContainerFactor& other);
|
||||
|
||||
LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Values& linearizationPoint);
|
||||
LinearContainerFactor(gtsam::GaussianFactor* factor);
|
||||
|
|
@ -2066,7 +2004,6 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor {
|
|||
#include <gtsam/nonlinear/NonlinearOptimizerParams.h>
|
||||
virtual class NonlinearOptimizerParams {
|
||||
NonlinearOptimizerParams();
|
||||
NonlinearOptimizerParams(const gtsam::NonlinearOptimizerParams& other);
|
||||
void print(string s) const;
|
||||
|
||||
int getMaxIterations() const;
|
||||
|
|
@ -2100,13 +2037,11 @@ bool checkConvergence(double relativeErrorTreshold,
|
|||
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
|
||||
virtual class GaussNewtonParams : gtsam::NonlinearOptimizerParams {
|
||||
GaussNewtonParams();
|
||||
GaussNewtonParams(const gtsam::GaussNewtonParams& other);
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
|
||||
virtual class LevenbergMarquardtParams : gtsam::NonlinearOptimizerParams {
|
||||
LevenbergMarquardtParams();
|
||||
LevenbergMarquardtParams(const gtsam::LevenbergMarquardtParams& other);
|
||||
|
||||
double getlambdaInitial() const;
|
||||
double getlambdaFactor() const;
|
||||
|
|
@ -2122,7 +2057,6 @@ virtual class LevenbergMarquardtParams : gtsam::NonlinearOptimizerParams {
|
|||
#include <gtsam/nonlinear/DoglegOptimizer.h>
|
||||
virtual class DoglegParams : gtsam::NonlinearOptimizerParams {
|
||||
DoglegParams();
|
||||
DoglegParams(const gtsam::DoglegParams& other);
|
||||
|
||||
double getDeltaInitial() const;
|
||||
string getVerbosityDL() const;
|
||||
|
|
@ -2165,7 +2099,6 @@ virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer {
|
|||
#include <gtsam/nonlinear/ISAM2.h>
|
||||
class ISAM2GaussNewtonParams {
|
||||
ISAM2GaussNewtonParams();
|
||||
ISAM2GaussNewtonParams(const gtsam::ISAM2GaussNewtonParams& other);
|
||||
|
||||
void print(string str) const;
|
||||
|
||||
|
|
@ -2176,7 +2109,6 @@ class ISAM2GaussNewtonParams {
|
|||
|
||||
class ISAM2DoglegParams {
|
||||
ISAM2DoglegParams();
|
||||
ISAM2DoglegParams(const gtsam::ISAM2DoglegParams& other);
|
||||
|
||||
void print(string str) const;
|
||||
|
||||
|
|
@ -2213,7 +2145,6 @@ class ISAM2ThresholdMap {
|
|||
|
||||
class ISAM2Params {
|
||||
ISAM2Params();
|
||||
ISAM2Params(const gtsam::ISAM2Params& other);
|
||||
|
||||
void print(string str) const;
|
||||
|
||||
|
|
@ -2242,7 +2173,6 @@ class ISAM2Clique {
|
|||
|
||||
//Constructors
|
||||
ISAM2Clique();
|
||||
ISAM2Clique(const gtsam::ISAM2Clique& other);
|
||||
|
||||
//Standard Interface
|
||||
Vector gradientContribution() const;
|
||||
|
|
@ -2251,7 +2181,6 @@ class ISAM2Clique {
|
|||
|
||||
class ISAM2Result {
|
||||
ISAM2Result();
|
||||
ISAM2Result(const gtsam::ISAM2Result& other);
|
||||
|
||||
void print(string str) const;
|
||||
|
||||
|
|
@ -2300,8 +2229,6 @@ class ISAM2 {
|
|||
class NonlinearISAM {
|
||||
NonlinearISAM();
|
||||
NonlinearISAM(int reorderInterval);
|
||||
NonlinearISAM(const gtsam::NonlinearISAM& other);
|
||||
|
||||
void print(string s) const;
|
||||
void printStats() const;
|
||||
void saveGraph(string s) const;
|
||||
|
|
@ -2329,7 +2256,6 @@ class NonlinearISAM {
|
|||
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
|
||||
virtual class PriorFactor : gtsam::NoiseModelFactor {
|
||||
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
|
||||
PriorFactor(const This& other);
|
||||
T prior() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
|
|
@ -2341,7 +2267,6 @@ virtual class PriorFactor : gtsam::NoiseModelFactor {
|
|||
template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::imuBias::ConstantBias}>
|
||||
virtual class BetweenFactor : gtsam::NoiseModelFactor {
|
||||
BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
|
||||
BetweenFactor(const This& other);
|
||||
T measured() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
|
|
@ -2357,7 +2282,6 @@ virtual class NonlinearEquality : gtsam::NoiseModelFactor {
|
|||
NonlinearEquality(size_t j, const T& feasible);
|
||||
// Constructor - allows inexact evaluation
|
||||
NonlinearEquality(size_t j, const T& feasible, double error_gain);
|
||||
NonlinearEquality(const This& other);
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -2368,7 +2292,6 @@ virtual class NonlinearEquality : gtsam::NoiseModelFactor {
|
|||
template<POSE, POINT>
|
||||
virtual class RangeFactor : gtsam::NoiseModelFactor {
|
||||
RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel);
|
||||
RangeFactor(const This& other);
|
||||
};
|
||||
|
||||
typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
|
||||
|
|
@ -2385,7 +2308,6 @@ typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactor
|
|||
template<POSE, POINT, BEARING>
|
||||
virtual class BearingFactor : gtsam::NoiseModelFactor {
|
||||
BearingFactor(size_t key1, size_t key2, const BEARING& measured, const gtsam::noiseModel::Base* noiseModel);
|
||||
BearingFactor(const This& other);
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -2399,7 +2321,6 @@ virtual class BearingRangeFactor : gtsam::NoiseModelFactor {
|
|||
BearingRangeFactor(size_t poseKey, size_t pointKey,
|
||||
const BEARING& measuredBearing, const RANGE& measuredRange,
|
||||
const gtsam::noiseModel::Base* noiseModel);
|
||||
BearingRangeFactor(const This& other);
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -2421,7 +2342,6 @@ virtual class GenericProjectionFactor : gtsam::NoiseModelFactor {
|
|||
GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
|
||||
size_t poseKey, size_t pointKey, const CALIBRATION* k, bool throwCheirality, bool verboseCheirality,
|
||||
const POSE& body_P_sensor);
|
||||
GenericProjectionFactor(const This& other);
|
||||
|
||||
gtsam::Point2 measured() const;
|
||||
CALIBRATION* calibration() const;
|
||||
|
|
@ -2439,7 +2359,6 @@ typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3D
|
|||
template<CAMERA, LANDMARK>
|
||||
virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
|
||||
GeneralSFMFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t cameraKey, size_t landmarkKey);
|
||||
GeneralSFMFactor(const This& other);
|
||||
gtsam::Point2 measured() const;
|
||||
};
|
||||
typedef gtsam::GeneralSFMFactor<gtsam::SimpleCamera, gtsam::Point3> GeneralSFMFactorCal3_S2;
|
||||
|
|
@ -2448,7 +2367,6 @@ typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> Gene
|
|||
template<CALIBRATION = {gtsam::Cal3_S2}>
|
||||
virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
|
||||
GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey);
|
||||
GeneralSFMFactor2(const This& other);
|
||||
gtsam::Point2 measured() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
|
|
@ -2458,7 +2376,6 @@ virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
|
|||
#include <gtsam/slam/SmartProjectionFactor.h>
|
||||
class SmartProjectionParams {
|
||||
SmartProjectionParams();
|
||||
SmartProjectionParams(const gtsam::SmartProjectionParams& other);
|
||||
// TODO(frank): make these work:
|
||||
// void setLinearizationMode(LinearizationMode linMode);
|
||||
// void setDegeneracyMode(DegeneracyMode degMode);
|
||||
|
|
@ -2481,7 +2398,6 @@ virtual class SmartProjectionPoseFactor: gtsam::NonlinearFactor {
|
|||
const CALIBRATION* K,
|
||||
const gtsam::Pose3& body_P_sensor,
|
||||
const gtsam::SmartProjectionParams& params);
|
||||
SmartProjectionPoseFactor(const This& other);
|
||||
|
||||
void add(const gtsam::Point2& measured_i, size_t poseKey_i);
|
||||
|
||||
|
|
@ -2497,7 +2413,6 @@ template<POSE, LANDMARK>
|
|||
virtual class GenericStereoFactor : gtsam::NoiseModelFactor {
|
||||
GenericStereoFactor(const gtsam::StereoPoint2& measured, const gtsam::noiseModel::Base* noiseModel,
|
||||
size_t poseKey, size_t landmarkKey, const gtsam::Cal3_S2Stereo* K);
|
||||
GenericStereoFactor(const This& other);
|
||||
gtsam::StereoPoint2 measured() const;
|
||||
gtsam::Cal3_S2Stereo* calibration() const;
|
||||
|
||||
|
|
@ -2510,7 +2425,6 @@ typedef gtsam::GenericStereoFactor<gtsam::Pose3, gtsam::Point3> GenericStereoFac
|
|||
template<POSE>
|
||||
virtual class PoseTranslationPrior : gtsam::NoiseModelFactor {
|
||||
PoseTranslationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
|
||||
PoseTranslationPrior(const This& other);
|
||||
};
|
||||
|
||||
typedef gtsam::PoseTranslationPrior<gtsam::Pose2> PoseTranslationPrior2D;
|
||||
|
|
@ -2520,7 +2434,6 @@ typedef gtsam::PoseTranslationPrior<gtsam::Pose3> PoseTranslationPrior3D;
|
|||
template<POSE>
|
||||
virtual class PoseRotationPrior : gtsam::NoiseModelFactor {
|
||||
PoseRotationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel);
|
||||
PoseRotationPrior(const This& other);
|
||||
};
|
||||
|
||||
typedef gtsam::PoseRotationPrior<gtsam::Pose2> PoseRotationPrior2D;
|
||||
|
|
@ -2530,7 +2443,6 @@ typedef gtsam::PoseRotationPrior<gtsam::Pose3> PoseRotationPrior3D;
|
|||
virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {
|
||||
EssentialMatrixFactor(size_t key, const gtsam::Point2& pA, const gtsam::Point2& pB,
|
||||
const gtsam::noiseModel::Base* noiseModel);
|
||||
EssentialMatrixFactor(const gtsam::EssentialMatrixFactor& other);
|
||||
};
|
||||
|
||||
#include <gtsam/slam/dataset.h>
|
||||
|
|
@ -2563,7 +2475,6 @@ class ConstantBias {
|
|||
// Constructors
|
||||
ConstantBias();
|
||||
ConstantBias(Vector biasAcc, Vector biasGyro);
|
||||
ConstantBias(const gtsam::imuBias::ConstantBias& other);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
|
|
@ -2599,7 +2510,6 @@ class NavState {
|
|||
NavState();
|
||||
NavState(const gtsam::Rot3& R, const gtsam::Point3& t, Vector v);
|
||||
NavState(const gtsam::Pose3& pose, Vector v);
|
||||
NavState(const gtsam::NavState& other);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
|
|
@ -2615,7 +2525,6 @@ class NavState {
|
|||
#include <gtsam/navigation/PreintegratedRotation.h>
|
||||
virtual class PreintegratedRotationParams {
|
||||
PreintegratedRotationParams();
|
||||
PreintegratedRotationParams(const gtsam::PreintegratedRotationParams& other);
|
||||
void setGyroscopeCovariance(Matrix cov);
|
||||
void setOmegaCoriolis(Vector omega);
|
||||
void setBodyPSensor(const gtsam::Pose3& pose);
|
||||
|
|
@ -2630,7 +2539,6 @@ virtual class PreintegratedRotationParams {
|
|||
#include <gtsam/navigation/PreintegrationParams.h>
|
||||
virtual class PreintegrationParams : gtsam::PreintegratedRotationParams {
|
||||
PreintegrationParams(Vector n_gravity);
|
||||
PreintegrationParams(const gtsam::PreintegrationParams& other);
|
||||
void setAccelerometerCovariance(Matrix cov);
|
||||
void setIntegrationCovariance(Matrix cov);
|
||||
void setUse2ndOrderCoriolis(bool flag);
|
||||
|
|
@ -2647,7 +2555,6 @@ class PreintegratedImuMeasurements {
|
|||
PreintegratedImuMeasurements(const gtsam::PreintegrationParams* params);
|
||||
PreintegratedImuMeasurements(const gtsam::PreintegrationParams* params,
|
||||
const gtsam::imuBias::ConstantBias& bias);
|
||||
PreintegratedImuMeasurements(const gtsam::PreintegratedImuMeasurements& other);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
|
|
@ -2671,7 +2578,6 @@ virtual class ImuFactor: gtsam::NonlinearFactor {
|
|||
ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j,
|
||||
size_t bias,
|
||||
const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements);
|
||||
ImuFactor(const gtsam::ImuFactor& other);
|
||||
|
||||
// Standard Interface
|
||||
gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const;
|
||||
|
|
@ -2682,7 +2588,6 @@ virtual class ImuFactor: gtsam::NonlinearFactor {
|
|||
|
||||
#include <gtsam/navigation/CombinedImuFactor.h>
|
||||
class PreintegratedCombinedMeasurements {
|
||||
PreintegratedCombinedMeasurements(const gtsam::PreintegratedCombinedMeasurements& other);
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::PreintegratedCombinedMeasurements& expected,
|
||||
|
|
@ -2706,7 +2611,6 @@ virtual class CombinedImuFactor: gtsam::NonlinearFactor {
|
|||
CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j,
|
||||
size_t bias_i, size_t bias_j,
|
||||
const gtsam::PreintegratedCombinedMeasurements& CombinedPreintegratedMeasurements);
|
||||
CombinedImuFactor(const gtsam::CombinedImuFactor& other);
|
||||
|
||||
// Standard Interface
|
||||
gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const;
|
||||
|
|
@ -2742,7 +2646,6 @@ virtual class AHRSFactor : gtsam::NonlinearFactor {
|
|||
AHRSFactor(size_t rot_i, size_t rot_j, size_t bias,
|
||||
const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis,
|
||||
const gtsam::Pose3& body_P_sensor);
|
||||
AHRSFactor(const gtsam::AHRSFactor& rhs);
|
||||
|
||||
// Standard Interface
|
||||
gtsam::PreintegratedAhrsMeasurements preintegratedMeasurements() const;
|
||||
|
|
@ -2759,11 +2662,10 @@ virtual class AHRSFactor : gtsam::NonlinearFactor {
|
|||
// AttitudeFactor();
|
||||
//};
|
||||
virtual class Rot3AttitudeFactor : gtsam::NonlinearFactor{
|
||||
Rot3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model, const gtsam::Unit3& bRef);
|
||||
Rot3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model,
|
||||
const gtsam::Unit3& bRef);
|
||||
Rot3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model);
|
||||
Rot3AttitudeFactor();
|
||||
Rot3AttitudeFactor(const gtsam::Rot3AttitudeFactor& rhs);
|
||||
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::NonlinearFactor& expected, double tol) const;
|
||||
gtsam::Unit3 nZ() const;
|
||||
|
|
@ -2775,7 +2677,6 @@ virtual class Pose3AttitudeFactor : gtsam::NonlinearFactor{
|
|||
const gtsam::Unit3& bRef);
|
||||
Pose3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model);
|
||||
Pose3AttitudeFactor();
|
||||
Pose3AttitudeFactor(const gtsam::Pose3AttitudeFactor& rhs);
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::NonlinearFactor& expected, double tol) const;
|
||||
gtsam::Unit3 nZ() const;
|
||||
|
|
|
|||
|
|
@ -14,8 +14,7 @@ std::string FullyOverloadedFunction::pyx_functionCall(
|
|||
string ret;
|
||||
if (!returnVals_[iOverload].isPair && !returnVals_[iOverload].type1.isPtr &&
|
||||
returnVals_[iOverload].type1.isNonBasicType()) {
|
||||
ret = returnVals_[iOverload].type1.shared_pxd_class_in_pyx() + "(new " +
|
||||
returnVals_[iOverload].type1.pxd_class_in_pyx() + "(";
|
||||
ret = returnVals_[iOverload].type1.make_shared_pxd_class_in_pyx() + "(";
|
||||
}
|
||||
|
||||
// actual function call ...
|
||||
|
|
@ -27,9 +26,9 @@ std::string FullyOverloadedFunction::pyx_functionCall(
|
|||
|
||||
if (!returnVals_[iOverload].isPair && !returnVals_[iOverload].type1.isPtr &&
|
||||
returnVals_[iOverload].type1.isNonBasicType())
|
||||
ret += "))";
|
||||
ret += ")";
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -349,7 +349,8 @@ void Module::emit_cython_pxd(FileWriter& pxdFile) const {
|
|||
" shared_ptr(T*)\n"
|
||||
" T* get()\n"
|
||||
" T& operator*()\n\n"
|
||||
" cdef shared_ptr[T] dynamic_pointer_cast[T,U](const shared_ptr[U]& r)\n";
|
||||
" cdef shared_ptr[T] dynamic_pointer_cast[T,U](const shared_ptr[U]& r)\n"
|
||||
" cdef shared_ptr[T] make_shared[T](const T& r)\n";
|
||||
|
||||
for(const TypedefPair& types: typedefs)
|
||||
types.emit_cython_pxd(pxdFile);
|
||||
|
|
@ -408,7 +409,8 @@ void Module::emit_cython_pyx(FileWriter& pyxFile) const {
|
|||
"import numpy as npp\n"
|
||||
"cimport " << pxdHeader << "\n"
|
||||
"from "<< pxdHeader << " cimport shared_ptr\n"
|
||||
"from "<< pxdHeader << " cimport dynamic_pointer_cast\n";
|
||||
"from "<< pxdHeader << " cimport dynamic_pointer_cast\n"
|
||||
"from "<< pxdHeader << " cimport make_shared\n";
|
||||
// import all typedefs, e.g. from gtsam_wrapper cimport Key, so we don't need to say gtsam.Key
|
||||
for(const Qualified& q: Qualified::BasicTypedefs) {
|
||||
pyxFile.oss << "from " << pxdHeader << " cimport " << q.pxdClassName() << "\n";
|
||||
|
|
|
|||
|
|
@ -246,6 +246,10 @@ public:
|
|||
return "shared_" + pxdClassName() + "_";
|
||||
}
|
||||
|
||||
std::string make_shared_pxd_class_in_pyx() const {
|
||||
return "make_shared[" + pxd_class_in_pyx() + "]";
|
||||
}
|
||||
|
||||
std::string shared_pxd_class_in_pyx() const {
|
||||
return "shared_ptr[" + pxd_class_in_pyx() + "]";
|
||||
}
|
||||
|
|
|
|||
|
|
@ -102,8 +102,8 @@ std::string ReturnType::pyx_casting(const std::string& var,
|
|||
return pyxClassName() + ".cyCreateFromShared(" + var + ")";
|
||||
else {
|
||||
// construct a shared_ptr if var is not a shared ptr
|
||||
return pyxClassName() + ".cyCreateFromShared(" + shared_pxd_class_in_pyx() +
|
||||
"(new " + pxd_class_in_pyx() + "(" + var + ")))";
|
||||
return pyxClassName() + ".cyCreateFromShared(" + make_shared_pxd_class_in_pyx() +
|
||||
+ "(" + var + "))";
|
||||
}
|
||||
} else
|
||||
return var;
|
||||
|
|
|
|||
Loading…
Reference in New Issue