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Wrap additional ISAM2 methods #941

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merged 11 commits into from
Nov 30, 2021
Merged

Wrap additional ISAM2 methods #941

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f828f3c
wrap additional ISAM2 methods
varunagrawal Nov 27, 2021
c0798a5
comment out method
varunagrawal Nov 28, 2021
007022d
make noise model default constructors available for serialization
varunagrawal Nov 29, 2021
247d996
enable pickling for a bunch of objects
varunagrawal Nov 29, 2021
5f07158
comment out incomplete code
varunagrawal Nov 29, 2021
04dd8e9
Merge branch 'wrap/isam2' into feature/pickling
varunagrawal Nov 29, 2021
afadea6
remove commented out code
varunagrawal Nov 29, 2021
3637f0d
Merge pull request #942 from borglab/feature/pickling
varunagrawal Nov 29, 2021
1fe7822
make LinearContainerFactor public for serialization
varunagrawal Nov 29, 2021
bee2898
wrap other ISAM2 methods
varunagrawal Nov 30, 2021
0b89d2d
wrap alternate ISAM2::update method
varunagrawal Nov 30, 2021
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18 changes: 18 additions & 0 deletions gtsam/nonlinear/nonlinear.i
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Original file line number Diff line number Diff line change
Expand Up @@ -611,6 +611,16 @@ class ISAM2GaussNewtonParams {
void setWildfireThreshold(double wildfireThreshold);
};

// class ISAM2LevenbergMarquardtParams {
// ISAM2LevenbergMarquardtParams();

// void print(string s = "") const;

// /** Getters and Setters for all properties */
// double getWildfireThreshold() const;
// void setWildfireThreshold(double wildfireThreshold);
// };

class ISAM2DoglegParams {
ISAM2DoglegParams();

Expand Down Expand Up @@ -738,7 +748,15 @@ 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,
Expand Down