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Fixes to get matlab wrapper working properly #1083

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Feb 2, 2022
Merged

Fixes to get matlab wrapper working properly #1083

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134e828
Fixes to get matlab wrapper working properly
varunagrawal Feb 2, 2022
00d90f0
Get matlab wrapping for discrete.i working
varunagrawal Feb 2, 2022
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20 changes: 10 additions & 10 deletions gtsam/discrete/discrete.i
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ virtual class DecisionTreeFactor : gtsam::DiscreteFactor {
string dot(
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
bool showZero = true) const;
std::vector<std::pair<DiscreteValues, double>> enumerate() const;
std::vector<std::pair<gtsam::DiscreteValues, double>> enumerate() const;
string markdown(const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
string markdown(const gtsam::KeyFormatter& keyFormatter,
Expand All @@ -97,7 +97,7 @@ virtual class DiscreteConditional : gtsam::DecisionTreeFactor {
const gtsam::Ordering& orderedKeys);
gtsam::DiscreteConditional operator*(
const gtsam::DiscreteConditional& other) const;
DiscreteConditional marginal(gtsam::Key key) const;
gtsam::DiscreteConditional marginal(gtsam::Key key) const;
void print(string s = "Discrete Conditional\n",
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
Expand Down Expand Up @@ -269,16 +269,16 @@ class DiscreteFactorGraph {
gtsam::DiscreteLookupDAG maxProduct(gtsam::Ordering::OrderingType type);
gtsam::DiscreteLookupDAG maxProduct(const gtsam::Ordering& ordering);

gtsam::DiscreteBayesNet eliminateSequential();
gtsam::DiscreteBayesNet eliminateSequential(gtsam::Ordering::OrderingType type);
gtsam::DiscreteBayesNet eliminateSequential(const gtsam::Ordering& ordering);
std::pair<gtsam::DiscreteBayesNet, gtsam::DiscreteFactorGraph>
gtsam::DiscreteBayesNet* eliminateSequential();
gtsam::DiscreteBayesNet* eliminateSequential(gtsam::Ordering::OrderingType type);
gtsam::DiscreteBayesNet* eliminateSequential(const gtsam::Ordering& ordering);
pair<gtsam::DiscreteBayesNet*, gtsam::DiscreteFactorGraph*>
eliminatePartialSequential(const gtsam::Ordering& ordering);

gtsam::DiscreteBayesTree eliminateMultifrontal();
gtsam::DiscreteBayesTree eliminateMultifrontal(gtsam::Ordering::OrderingType type);
gtsam::DiscreteBayesTree eliminateMultifrontal(const gtsam::Ordering& ordering);
std::pair<gtsam::DiscreteBayesTree, gtsam::DiscreteFactorGraph>
gtsam::DiscreteBayesTree* eliminateMultifrontal();
gtsam::DiscreteBayesTree* eliminateMultifrontal(gtsam::Ordering::OrderingType type);
gtsam::DiscreteBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering);
pair<gtsam::DiscreteBayesTree*, gtsam::DiscreteFactorGraph*>
eliminatePartialMultifrontal(const gtsam::Ordering& ordering);

string dot(
Expand Down
8 changes: 4 additions & 4 deletions gtsam/slam/slam.i
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Expand Up @@ -223,12 +223,12 @@ enum KernelFunctionType {
KernelFunctionTypeTUKEY
};

std::pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
string filename, gtsam::noiseModel::Diagonal* model = nullptr,
size_t maxIndex = 0, bool addNoise = false, bool smart = true,
gtsam::NoiseFormat noiseFormat = gtsam::NoiseFormatAUTO,
gtsam::NoiseFormat noiseFormat = gtsam::NoiseFormat::NoiseFormatAUTO,
gtsam::KernelFunctionType kernelFunctionType =
gtsam::KernelFunctionTypeNONE);
gtsam::KernelFunctionType::KernelFunctionTypeNONE);

void save2D(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
Expand Down Expand Up @@ -259,7 +259,7 @@ pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load3D(string filename);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(
string filename, const bool is3D = false,
gtsam::KernelFunctionType kernelFunctionType =
gtsam::KernelFunctionTypeNONE);
gtsam::KernelFunctionType::KernelFunctionTypeNONE);
void writeG2o(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& estimate, string filename);

Expand Down
2 changes: 2 additions & 0 deletions matlab/CMakeLists.txt
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Expand Up @@ -68,6 +68,8 @@ set(interface_files
${GTSAM_SOURCE_DIR}/gtsam/gtsam.i
${GTSAM_SOURCE_DIR}/gtsam/base/base.i
${GTSAM_SOURCE_DIR}/gtsam/basis/basis.i
${PROJECT_SOURCE_DIR}/gtsam/inference/inference.i
${PROJECT_SOURCE_DIR}/gtsam/discrete/discrete.i
${GTSAM_SOURCE_DIR}/gtsam/geometry/geometry.i
${GTSAM_SOURCE_DIR}/gtsam/linear/linear.i
${GTSAM_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i
Expand Down
3 changes: 0 additions & 3 deletions python/gtsam/preamble/inference.h
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Expand Up @@ -10,6 +10,3 @@
* Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++.
*/

#include <pybind11/stl.h>
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@varunagrawal : why was this removed? I think this broke DotWriter