Wrap translation averaging #513
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
dellaert
approved these changes
Sep 7, 2020
| @@ -2914,6 +2914,13 @@ class BinaryMeasurement { | |||
| typedef gtsam::BinaryMeasurement<gtsam::Unit3> BinaryMeasurementUnit3; | |||
| typedef gtsam::BinaryMeasurement<gtsam::Rot3> BinaryMeasurementRot3; | |||
|
|
|||
| class BinaryMeasurementsUnit3 { | |||
| BinaryMeasurementsUnit3(); | |||
There was a problem hiding this comment.
All these are generic and should be just added above in BinaryMeasurement
There was a problem hiding this comment.
Great, I did not know that. Removed it.
There was a problem hiding this comment.
Actually, I apologize but I was wrong:
- I did not see this was about the vector of measurements, so my comment was wrong
- by the specialization stuff, these methods are indeed available in a pythonesque way in the python wrapper. However, I think it still needs to be here for the MATLAB wrapper. @ProfFan can confirm.
PS @ProfFan this state of affairs is really not great, even thought not necessarily in your plate: I think we should adapt the wrap language to deal with these things in a uniform and transparent way. After all, the wrap code is a code generator. Surely this should not be on the user.
There was a problem hiding this comment.
Yes, you still need to create theXxxVector, XxxMap type aliases for the MATLAB wrapper. I demonstrated this in #511 for DSFMap, you can refer to that PR @akshay-krishnan .
I agree that we should extend the wrap language to deal with this, but currently I have no bandwidth on it, and I cannot think of an idiomatic way to do this...
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR wraps translation averaging to provide a Python interface. The included python test verifies that the interface works well.