Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Jacobian Factor Wrapping #873

Merged
merged 4 commits into from
Sep 10, 2021
Merged

Jacobian Factor Wrapping #873

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
b3da7e0
formatting
varunagrawal Sep 10, 2021
0a8080f
wrap key printing funcs and remove redundancy
varunagrawal Sep 10, 2021
0257f21
wrap more JacobianFactor constructors
varunagrawal Sep 10, 2021
7076244
update template to record correct name of cpp file
varunagrawal Sep 10, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
30 changes: 17 additions & 13 deletions gtsam/inference/Key.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
namespace gtsam {

/// Typedef for a function to format a key, i.e. to convert it to a string
typedef std::function<std::string(Key)> KeyFormatter;
using KeyFormatter = std::function<std::string(Key)>;

// Helper function for DefaultKeyFormatter
GTSAM_EXPORT std::string _defaultKeyFormatter(Key key);
Expand Down Expand Up @@ -83,28 +83,32 @@ class key_formatter {
};

/// Define collection type once and for all - also used in wrappers
typedef FastVector<Key> KeyVector;
using KeyVector = FastVector<Key>;

// TODO(frank): Nothing fast about these :-(
typedef FastList<Key> KeyList;
typedef FastSet<Key> KeySet;
typedef FastMap<Key, int> KeyGroupMap;
using KeyList = FastList<Key>;
using KeySet = FastSet<Key>;
using KeyGroupMap = FastMap<Key, int>;

/// Utility function to print one key with optional prefix
GTSAM_EXPORT void PrintKey(Key key, const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter);
GTSAM_EXPORT void PrintKey(
Key key, const std::string &s = "",
const KeyFormatter &keyFormatter = DefaultKeyFormatter);

/// Utility function to print sets of keys with optional prefix
GTSAM_EXPORT void PrintKeyList(const KeyList& keys, const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter);
GTSAM_EXPORT void PrintKeyList(
const KeyList &keys, const std::string &s = "",
const KeyFormatter &keyFormatter = DefaultKeyFormatter);

/// Utility function to print sets of keys with optional prefix
GTSAM_EXPORT void PrintKeyVector(const KeyVector& keys, const std::string& s =
"", const KeyFormatter& keyFormatter = DefaultKeyFormatter);
GTSAM_EXPORT void PrintKeyVector(
const KeyVector &keys, const std::string &s = "",
const KeyFormatter &keyFormatter = DefaultKeyFormatter);

/// Utility function to print sets of keys with optional prefix
GTSAM_EXPORT void PrintKeySet(const KeySet& keys, const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter);
GTSAM_EXPORT void PrintKeySet(
const KeySet &keys, const std::string &s = "",
const KeyFormatter &keyFormatter = DefaultKeyFormatter);

// Define Key to be Testable by specializing gtsam::traits
template<typename T> struct traits;
Expand Down
7 changes: 7 additions & 0 deletions gtsam/linear/linear.i
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -289,6 +289,13 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
Vector b, const gtsam::noiseModel::Diagonal* model);
JacobianFactor(const gtsam::GaussianFactorGraph& graph);
JacobianFactor(const gtsam::GaussianFactorGraph& graph,
const gtsam::VariableSlots& p_variableSlots);
JacobianFactor(const gtsam::GaussianFactorGraph& graph,
const gtsam::Ordering& ordering);
JacobianFactor(const gtsam::GaussianFactorGraph& graph,
const gtsam::Ordering& ordering,
const gtsam::VariableSlots& p_variableSlots);

//Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
Expand Down
15 changes: 9 additions & 6 deletions gtsam/nonlinear/nonlinear.i
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -75,12 +75,15 @@ size_t Z(size_t j);
} // namespace symbol_shorthand

// Default keyformatter
void PrintKeyList(const gtsam::KeyList& keys);
void PrintKeyList(const gtsam::KeyList& keys, string s);
void PrintKeyVector(const gtsam::KeyVector& keys);
void PrintKeyVector(const gtsam::KeyVector& keys, string s);
void PrintKeySet(const gtsam::KeySet& keys);
void PrintKeySet(const gtsam::KeySet& keys, string s);
void PrintKeyList(
const gtsam::KeyList& keys, const string& s = "",
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
void PrintKeyVector(
const gtsam::KeyVector& keys, const string& s = "",
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
void PrintKeySet(
const gtsam::KeySet& keys, const string& s = "",
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);

#include <gtsam/inference/LabeledSymbol.h>
class LabeledSymbol {
Expand Down
6 changes: 3 additions & 3 deletions python/gtsam/gtsam.tpl
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
/**
* @file gtsam.cpp
* @file {module_name}.cpp
* @brief The auto-generated wrapper C++ source code.
* @author Duy-Nguyen Ta, Fan Jiang, Matthew Sklar
* @date Aug. 18, 2020
* @author Duy-Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal
* @date Aug. 18, 2020
*
* ** THIS FILE IS AUTO-GENERATED, DO NOT MODIFY! **
*/
Expand Down