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wrap additional ISAM2 methods

release/4.3a0
Varun Agrawal 2021-11-27 18:14:49 -05:00
parent 58d4c05ff9
commit f828f3cb25
1 changed files with 7 additions and 0 deletions
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7
gtsam/nonlinear/nonlinear.i
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@ -738,7 +738,14 @@ class ISAM2 {
const gtsam::KeyList& extraReelimKeys,
bool force_relinearize);
void marginalizeLeaves(
const gtsam::KeyList& leafKeys,
boost::optional<gtsam::FactorIndices&> marginalFactorIndices =
boost::none,
boost::optional<gtsam::FactorIndices&> deletedFactorsIndices =
boost::none);
gtsam::Values getLinearizationPoint() const;
bool valueExists(gtsam::Key key) const;
gtsam::Values calculateEstimate() const;
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,