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saveGraph

release/4.3a0
Frank Dellaert 2012-06-07 13:17:46 +00:00
parent b01ab6e642
commit f8ce3a9c11
3 changed files with 12 additions and 1 deletions
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4
gtsam.h
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@ -602,6 +602,7 @@ class GaussianFactorGraph {
class GaussianISAM { class GaussianISAM {
GaussianISAM(); GaussianISAM();
void saveGraph(string s) const;
gtsam::GaussianFactor* marginalFactor(size_t j) const; gtsam::GaussianFactor* marginalFactor(size_t j) const;
gtsam::GaussianBayesNet* marginalBayesNet(size_t key) const; gtsam::GaussianBayesNet* marginalBayesNet(size_t key) const;
Matrix marginalCovariance(size_t key) const; Matrix marginalCovariance(size_t key) const;
@ -933,11 +934,12 @@ class Graph {
class ISAM { class ISAM {
ISAM(); ISAM();
ISAM(int reorderInterval); ISAM(int reorderInterval);
void print(string s) const;
void saveGraph(string s) const;
visualSLAM::Values estimate() const; visualSLAM::Values estimate() const;
Matrix marginalCovariance(size_t key) const; Matrix marginalCovariance(size_t key) const;
int reorderInterval() const; int reorderInterval() const;
int reorderCounter() const; int reorderCounter() const;
void print(string s) const;
void update(const visualSLAM::Graph& newFactors, const visualSLAM::Values& initialValues); void update(const visualSLAM::Graph& newFactors, const visualSLAM::Values& initialValues);
void reorder_relinearize(); void reorder_relinearize();
void addKey(size_t key); void addKey(size_t key);

6
gtsam/nonlinear/NonlinearISAM-inl.h
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@ -28,6 +28,12 @@
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
/* ************************************************************************* */
template<class GRAPH>
void NonlinearISAM<GRAPH>::saveGraph(const std::string& s) const {
isam_.saveGraph(s);
}
/* ************************************************************************* */ /* ************************************************************************* */
template<class GRAPH> template<class GRAPH>
void NonlinearISAM<GRAPH>::update(const Factors& newFactors, void NonlinearISAM<GRAPH>::update(const Factors& newFactors,

3
gtsam/nonlinear/NonlinearISAM.h
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@ -93,6 +93,9 @@ public:
/** prints out all contents of the system */ /** prints out all contents of the system */
void print(const std::string& s="") const; void print(const std::string& s="") const;
/** saves the Tree to a text file in GraphViz format */
void saveGraph(const std::string& s) const;
/// @} /// @}
/// @name Advanced Interface /// @name Advanced Interface
/// @{ /// @{