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Wrapper fixes #528

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merged 7 commits into from
Sep 27, 2020
Merged

Wrapper fixes #528

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f9749c8
fix wrapper TODOs for ISAM2 and BearingRange
varunagrawal Sep 18, 2020
09f09fa
update wrapper to also work for Matlab
varunagrawal Sep 24, 2020
de5f002
Merge branch 'develop' into fix/wrapper-todos
varunagrawal Sep 26, 2020
5defa4c
wrapped BearingRange::Measure method and removed deprecated classes
varunagrawal Sep 26, 2020
9bdcd2c
remove all LieScalar/LieVector/LieMatrix references from wrapper
varunagrawal Sep 26, 2020
ff9dc99
MATLAB readme update
varunagrawal Sep 26, 2020
94bb0fb
remove Point3 serialization test since Point3 is now just a vector
varunagrawal Sep 26, 2020
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10 changes: 5 additions & 5 deletions gtsam/gtsam.i
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Original file line number Diff line number Diff line change
Expand Up @@ -2567,9 +2567,9 @@ class ISAM2 {
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, const gtsam::KeyGroupMap& constrainedKeys);
// TODO: wrap the full version of update
//void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, FastMap<Key,int>& constrainedKeys);
//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::FactorIndices& removeFactorIndices, gtsam::KeyGroupMap& constrainedKeys, const gtsam::KeyList& noRelinKeys);
gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FactorIndices& removeFactorIndices, gtsam::KeyGroupMap& constrainedKeys, const gtsam::KeyList& noRelinKeys, const gtsam::KeyList& extraReelimKeys);
gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FactorIndices& removeFactorIndices, gtsam::KeyGroupMap& constrainedKeys, const gtsam::KeyList& noRelinKeys, const gtsam::KeyList& extraReelimKeys, bool force_relinearize);

gtsam::Values getLinearizationPoint() const;
gtsam::Values calculateEstimate() const;
Expand Down Expand Up @@ -2701,8 +2701,8 @@ class BearingRange {
BearingRange(const BEARING& b, const RANGE& r);
BEARING bearing() const;
RANGE range() const;
// TODO(frank): can't class instance itself?
// static gtsam::BearingRange Measure(const POSE& pose, const POINT& point);
//TODO need to update wrap to allow self referencing of class
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Can't use This?

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Is that This with a capital T?

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Yes

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Nvm got it. Thanks Fan!!

// static gtsam::BearingRange<POSE, POINT, BEARING, RANGE> Measure(const POSE& pose, const POINT& point);
static BEARING MeasureBearing(const POSE& pose, const POINT& point);
static RANGE MeasureRange(const POSE& pose, const POINT& point);
void print(string s) const;
Expand Down