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fix wrapper TODOs for ISAM2 and BearingRange

release/4.3a0
Varun Agrawal 2020-09-18 11:44:59 -04:00
parent 0043120a8a
commit f9749c8aff
1 changed files with 13 additions and 5 deletions
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18
gtsam/gtsam.i
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@ -314,6 +314,14 @@ class DSFMapIndexPair {
gtsam::IndexPairSetMap sets(); gtsam::IndexPairSetMap sets();
}; };
#include <gtsam/base/FastList.h>
template<VALUE>
class FastList {};
#include <gtsam/base/FastMap.h>
template<KEY, VALUE>
class FastMap {};
#include <gtsam/base/Matrix.h> #include <gtsam/base/Matrix.h>
bool linear_independent(Matrix A, Matrix B, double tol); bool linear_independent(Matrix A, Matrix B, double tol);
@ -2567,9 +2575,10 @@ class ISAM2 {
gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta); gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta);
gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FactorIndices& removeFactorIndices); gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FactorIndices& removeFactorIndices);
gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FactorIndices& removeFactorIndices, const gtsam::KeyGroupMap& constrainedKeys); gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FactorIndices& removeFactorIndices, const gtsam::KeyGroupMap& constrainedKeys);
// TODO: wrap the full version of update gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, gtsam::FastMap<gtsam::Key,int>& constrainedKeys);
//void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, FastMap<Key,int>& constrainedKeys); gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, gtsam::FastMap<gtsam::Key,int>& constrainedKeys, const gtsam::FastList<gtsam::Key>& noRelinKeys);
//void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, FastMap<Key,int>& constrainedKeys, bool force_relinearize); gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, gtsam::FastMap<gtsam::Key,int>& constrainedKeys, const gtsam::FastList<gtsam::Key>& noRelinKeys, const gtsam::FastList<gtsam::Key>& extraReelimKeys);
gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, gtsam::FastMap<gtsam::Key,int>& constrainedKeys, const gtsam::FastList<gtsam::Key>& noRelinKeys, const gtsam::FastList<gtsam::Key>& extraReelimKeys, bool force_relinearize);
gtsam::Values getLinearizationPoint() const; gtsam::Values getLinearizationPoint() const;
gtsam::Values calculateEstimate() const; gtsam::Values calculateEstimate() const;
@ -2701,8 +2710,7 @@ class BearingRange {
BearingRange(const BEARING& b, const RANGE& r); BearingRange(const BEARING& b, const RANGE& r);
BEARING bearing() const; BEARING bearing() const;
RANGE range() const; RANGE range() const;
// TODO(frank): can't class instance itself? static gtsam::BearingRange Measure(const POSE& pose, const POINT& point);
// static gtsam::BearingRange Measure(const POSE& pose, const POINT& point);
static BEARING MeasureBearing(const POSE& pose, const POINT& point); static BEARING MeasureBearing(const POSE& pose, const POINT& point);
static RANGE MeasureRange(const POSE& pose, const POINT& point); static RANGE MeasureRange(const POSE& pose, const POINT& point);
void print(string s) const; void print(string s) const;