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Double + NavState in the wrapper #731

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Apr 7, 2021
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Double + NavState in the wrapper #731

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35 changes: 31 additions & 4 deletions gtsam/gtsam.i
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Original file line number Diff line number Diff line change
Expand Up @@ -2091,8 +2091,14 @@ class NonlinearFactorGraph {
gtsam::KeySet keys() const;
gtsam::KeyVector keyVector() const;

template<T = {double, Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias}>
void addPrior(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
template <T = {double, Vector, gtsam::Point2, gtsam::StereoPoint2,
gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4,
gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,
gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2,
gtsam::PinholeCamera<gtsam::Cal3Bundler>,
gtsam::imuBias::ConstantBias}>
void addPrior(size_t key, const T& prior,
const gtsam::noiseModel::Base* noiseModel);

// NonlinearFactorGraph
void printErrors(const gtsam::Values& values) const;
Expand Down Expand Up @@ -2561,7 +2567,26 @@ class NonlinearISAM {
#include <gtsam/geometry/StereoPoint2.h>

#include <gtsam/nonlinear/PriorFactor.h>
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
template <T = {double,
Vector,
gtsam::Point2,
gtsam::StereoPoint2,
gtsam::Point3,
gtsam::Rot2,
gtsam::SO3,
gtsam::SO4,
gtsam::SOn,
gtsam::Rot3,
gtsam::Pose2,
gtsam::Pose3,
gtsam::Unit3,
gtsam::Cal3_S2,
gtsam::Cal3DS2,
gtsam::Cal3Bundler,
gtsam::CalibratedCamera,
gtsam::PinholeCameraCal3_S2,
gtsam::imuBias::ConstantBias,
gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
virtual class PriorFactor : gtsam::NoiseModelFactor {
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
T prior() const;
Expand All @@ -2573,7 +2598,6 @@ virtual class PriorFactor : gtsam::NoiseModelFactor {
void pickle() const;
};


#include <gtsam/slam/BetweenFactor.h>
template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::imuBias::ConstantBias}>
virtual class BetweenFactor : gtsam::NoiseModelFactor {
Expand Down Expand Up @@ -3194,6 +3218,9 @@ class NavState {
gtsam::Point3 position() const;
Vector velocity() const;
gtsam::Pose3 pose() const;

gtsam::NavState retract(const Vector& x) const;
Vector localCoordinates(const gtsam::NavState& g) const;
};

#include <gtsam/navigation/PreintegratedRotation.h>
Expand Down