gtsam/gtsam.h

/**
 * GTSAM Wrap Module Definition
 *
 * These are the current classes available through the matlab toolbox interface,
 * add more functions/classes as they are available.
 *
 * Requirements:
 *   Classes must start with an uppercase letter
 *   	 - Can wrap a typedef
 *   Only one Method/Constructor per line, though methods/constructors can extend across multiple lines
 *   Methods can return
 *     - Eigen types:       Matrix, Vector
 *     - C/C++ basic types: string, bool, size_t, size_t, double, char, unsigned char
 *     - void
 *     - Any class with which be copied with boost::make_shared()
 *     - boost::shared_ptr of any object type
 *   Constructors
 *     - Overloads are supported
 *     - A class with no constructors can be returned from other functions but not allocated directly in MATLAB
 *   Methods
 *     - Constness has no effect
 *     - Specify by-value (not reference) return types, even if C++ method returns reference
 *     - Must start with a lowercase letter
 *     - Overloads are supported
 *   Static methods
 *     - Must start with a letter (upper or lowercase) and use the "static" keyword
 *     - The first letter will be made uppercase in the generated MATLAB interface
 *     - Overloads are supported
 *   Arguments to functions any of
 *   	 - Eigen types:       Matrix, Vector
 *   	 - Eigen types and classes as an optionally const reference
 *     - C/C++ basic types: string, bool, size_t, size_t, double, char, unsigned char
 *     - Any class with which be copied with boost::make_shared() (except Eigen)
 *     - boost::shared_ptr of any object type (except Eigen)
 *   Comments can use either C++ or C style, with multiple lines
 *   Namespace definitions
 *     - Names of namespaces must start with a lowercase letter
 *   	 - start a namespace with "namespace {"
 *   	 - end a namespace with exactly "}"
 *   	 - Namespaces can be nested
 *   Namespace usage
 *   	 - Namespaces can be specified for classes in arguments and return values
 *   	 - In each case, the namespace must be fully specified, e.g., "namespace1::namespace2::ClassName"
 *   Includes in C++ wrappers
 *     - All includes will be collected and added in a single file
 *     - All namespaces must have angle brackets: <path>
 *     - No default includes will be added
 *   Global/Namespace functions
 *     - Functions specified outside of a class are global
 *     - Can be overloaded with different arguments
 *     - Can have multiple functions of the same name in different namespaces
 *   Using classes defined in other modules
 *     - If you are using a class 'OtherClass' not wrapped in this definition file, add "class OtherClass;" to avoid a dependency error
 *   Virtual inheritance
 *     - Specify fully-qualified base classes, i.e. "virtual class Derived : module::Base {"
 *     - Mark with 'virtual' keyword, e.g. "virtual class Base {", and also "virtual class Derived : module::Base {"
 *     - Forward declarations must also be marked virtual, e.g. "virtual class module::Base;" and
 *       also "virtual class module::Derived;"
 *     - Pure virtual (abstract) classes should list no constructors in this interface file
 *     - Virtual classes must have a clone() function in C++ (though it does not have to be included
 *       in the MATLAB interface).  clone() will be called whenever an object copy is needed, instead
 *       of using the copy constructor (which is used for non-virtual objects).
 *   Templates
 *     - Basic templates are supported either with an explicit list of types to instantiate,
 *       e.g. template<T = {gtsam::Pose2, gtsam::Rot2, gtsam::Point3}> class Class1 { ... };
 *       or with typedefs, e.g.
 *       template<T, U> class Class2 { ... };
 *       typedef Class2<Type1, Type2> MyInstantiatedClass;
 *     - In the class definition, appearances of the template argument(s) will be replaced with their
 *       instantiated types, e.g. 'void setValue(const T& value);'.
 *     - To refer to the instantiation of the template class itself, use 'This', i.e. 'static This Create();'
 *     - To create new instantiations in other modules, you must copy-and-paste the whole class definition
 *       into the new module, but use only your new instantiation types.
 *     - When forward-declaring template instantiations, use the generated/typedefed name, e.g.
 *       class gtsam::Class1Pose2;
 *       class gtsam::MyInstantiatedClass;
 */

/**
 * Status:
 *  - TODO: default values for arguments
 *  - TODO: Handle gtsam::Rot3M conversions to quaternions
 */

/*namespace std {
    template<T>
    //Module.cpp needs to be changed to allow lowercase classnames
    class vector
    {
        //Capcaity
        size_t size() const;
        size_t max_size() const;
        void resize(size_t sz, T c = T());
        size_t capacity() const;
        bool empty() const;
        void reserve(size_t n);

        //Element acces
        T& at(size_t n);
        const T& at(size_t n) const;
        T& front();
        const T& front() const;
        T& back();
        const T& back() const;

        //Modifiers
        void assign(size_t n, const T& u);
        void push_back(const T& x);
        void pop_back();
    };
}*/

namespace gtsam {

//typedef std::vector<Index> IndexVector;

//*************************************************************************
// base
//*************************************************************************

/** gtsam namespace functions */
bool linear_independent(Matrix A, Matrix B, double tol);

virtual class Value {
	// No constructors because this is an abstract class

	// Testable
	void print(string s) const;

	// Manifold
	size_t dim() const;
};

#include <gtsam/base/LieScalar.h>
virtual class LieScalar : gtsam::Value {
	// Standard constructors
	LieScalar();
	LieScalar(double d);

	// Standard interface
	double value() const;

	// Testable
	void print(string s) const;
	bool equals(const gtsam::LieScalar& expected, double tol) const;

	// Group
	static gtsam::LieScalar identity();
	gtsam::LieScalar inverse() const;
	gtsam::LieScalar compose(const gtsam::LieScalar& p) const;
	gtsam::LieScalar between(const gtsam::LieScalar& l2) const;

	// Manifold
	size_t dim() const;
	gtsam::LieScalar retract(Vector v) const;
	Vector localCoordinates(const gtsam::LieScalar& t2) const;

	// Lie group
	static gtsam::LieScalar Expmap(Vector v);
	static Vector Logmap(const gtsam::LieScalar& p);
};

#include <gtsam/base/LieVector.h>
virtual class LieVector : gtsam::Value {
	// Standard constructors
	LieVector();
	LieVector(Vector v);

	// Standard interface
	Vector vector() const;

	// Testable
	void print(string s) const;
	bool equals(const gtsam::LieVector& expected, double tol) const;

	// Group
	static gtsam::LieVector identity();
	gtsam::LieVector inverse() const;
	gtsam::LieVector compose(const gtsam::LieVector& p) const;
	gtsam::LieVector between(const gtsam::LieVector& l2) const;

	// Manifold
	size_t dim() const;
	gtsam::LieVector retract(Vector v) const;
	Vector localCoordinates(const gtsam::LieVector& t2) const;

	// Lie group
	static gtsam::LieVector Expmap(Vector v);
	static Vector Logmap(const gtsam::LieVector& p);
};

#include <gtsam/base/LieMatrix.h>
virtual class LieMatrix : gtsam::Value {
	// Standard constructors
	LieMatrix();
	LieMatrix(Matrix v);

	// Standard interface
	Matrix matrix() const;

	// Testable
	void print(string s) const;
	bool equals(const gtsam::LieMatrix& expected, double tol) const;

	// Group
	static gtsam::LieMatrix identity();
	gtsam::LieMatrix inverse() const;
	gtsam::LieMatrix compose(const gtsam::LieMatrix& p) const;
	gtsam::LieMatrix between(const gtsam::LieMatrix& l2) const;

	// Manifold
	size_t dim() const;
	gtsam::LieMatrix retract(Vector v) const;
	Vector localCoordinates(const gtsam::LieMatrix & t2) const;

	// Lie group
	static gtsam::LieMatrix Expmap(Vector v);
	static Vector Logmap(const gtsam::LieMatrix& p);
};

//*************************************************************************
// geometry
//*************************************************************************

virtual class Point2 : gtsam::Value {
  // Standard Constructors
	Point2();
	Point2(double x, double y);
	Point2(Vector v);

  // Testable
  void print(string s) const;
  bool equals(const gtsam::Point2& pose, double tol) const;

  // Group
  static gtsam::Point2 identity();
  gtsam::Point2 inverse() const;
  gtsam::Point2 compose(const gtsam::Point2& p2) const;
  gtsam::Point2 between(const gtsam::Point2& p2) const;

  // Manifold
  static size_t Dim();
  size_t dim() const;
  gtsam::Point2 retract(Vector v) const;
  Vector localCoordinates(const gtsam::Point2& p) const;

  // Lie Group
  static gtsam::Point2 Expmap(Vector v);
  static Vector Logmap(const gtsam::Point2& p);

  // Standard Interface
  double x() const;
  double y() const;
  Vector vector() const;
  double dist(const gtsam::Point2& p2) const;
};

virtual class StereoPoint2 : gtsam::Value {
  // Standard Constructors
  StereoPoint2();
  StereoPoint2(double uL, double uR, double v);

  // Testable
  void print(string s) const;
  bool equals(const gtsam::StereoPoint2& point, double tol) const;

  // Group
  static gtsam::StereoPoint2 identity();
  gtsam::StereoPoint2 inverse() const;
  gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2) const;
  gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2) const;

  // Manifold
  static size_t Dim();
  size_t dim() const;
  gtsam::StereoPoint2 retract(Vector v) const;
  Vector localCoordinates(const gtsam::StereoPoint2& p) const;

  // Lie Group
  static gtsam::StereoPoint2 Expmap(Vector v);
  static Vector Logmap(const gtsam::StereoPoint2& p);

  // Standard Interface
  Vector vector() const;
};

virtual class Point3 : gtsam::Value {
  // Standard Constructors
	Point3();
	Point3(double x, double y, double z);
	Point3(Vector v);

  // Testable
  void print(string s) const;
  bool equals(const gtsam::Point3& p, double tol) const;

  // Group
  static gtsam::Point3 identity();
  gtsam::Point3 inverse() const;
  gtsam::Point3 compose(const gtsam::Point3& p2) const;
  gtsam::Point3 between(const gtsam::Point3& p2) const;

  // Manifold
  static size_t Dim();
  size_t dim() const;
  gtsam::Point3 retract(Vector v) const;
  Vector localCoordinates(const gtsam::Point3& p) const;

  // Lie Group
  static gtsam::Point3 Expmap(Vector v);
	static Vector Logmap(const gtsam::Point3& p);

  // Standard Interface
	Vector vector() const;
	double x() const;
	double y() const;
	double z() const;
};

virtual class Rot2 : gtsam::Value {
  // Standard Constructors and Named Constructors
	Rot2();
	Rot2(double theta);
  static gtsam::Rot2 fromAngle(double theta);
  static gtsam::Rot2 fromDegrees(double theta);
  static gtsam::Rot2 fromCosSin(double c, double s);

  // Testable
  void print(string s) const;
  bool equals(const gtsam::Rot2& rot, double tol) const;

  // Group
  static gtsam::Rot2 identity();
  gtsam::Rot2 inverse();
  gtsam::Rot2 compose(const gtsam::Rot2& p2) const;
  gtsam::Rot2 between(const gtsam::Rot2& p2) const;

  // Manifold
  static size_t Dim();
  size_t dim() const;
  gtsam::Rot2 retract(Vector v) const;
  Vector localCoordinates(const gtsam::Rot2& p) const;

  // Lie Group
  static gtsam::Rot2 Expmap(Vector v);
	static Vector Logmap(const gtsam::Rot2& p);

  // Group Action on Point2
  gtsam::Point2 rotate(const gtsam::Point2& point) const;
  gtsam::Point2 unrotate(const gtsam::Point2& point) const;

  // Standard Interface
	static gtsam::Rot2 relativeBearing(const gtsam::Point2& d); // Ignoring derivative
	static gtsam::Rot2 atan2(double y, double x);
	double theta() const;
	double degrees() const;
	double c() const;
	double s() const;
  Matrix matrix() const;
};

virtual class Rot3 : gtsam::Value {
  // Standard Constructors and Named Constructors
	Rot3();
	Rot3(Matrix R);
	static gtsam::Rot3 Rx(double t);
	static gtsam::Rot3 Ry(double t);
	static gtsam::Rot3 Rz(double t);
  static gtsam::Rot3 RzRyRx(double x, double y, double z); // FIXME: overloaded functions don't work yet
	static gtsam::Rot3 RzRyRx(Vector xyz);
	static gtsam::Rot3 yaw(double t); // positive yaw is to right (as in aircraft heading)
	static gtsam::Rot3 pitch(double t); // positive pitch is up (increasing aircraft altitude)
	static gtsam::Rot3 roll(double t); // positive roll is to right (increasing yaw in aircraft)
	static gtsam::Rot3 ypr(double y, double p, double r);
	static gtsam::Rot3 quaternion(double w, double x, double y, double z);
	static gtsam::Rot3 rodriguez(Vector v);

  // Testable
	void print(string s) const;
	bool equals(const gtsam::Rot3& rot, double tol) const;

  // Group
	static gtsam::Rot3 identity();
  gtsam::Rot3 inverse() const;
	gtsam::Rot3 compose(const gtsam::Rot3& p2) const;
	gtsam::Rot3 between(const gtsam::Rot3& p2) const;

  // Manifold
  static size_t Dim();
  size_t dim() const;
  gtsam::Rot3 retractCayley(Vector v) const; // FIXME, does not exist in both Matrix and Quaternion options
  gtsam::Rot3 retract(Vector v) const;
  Vector localCoordinates(const gtsam::Rot3& p) const;

  // Group Action on Point3
	gtsam::Point3 rotate(const gtsam::Point3& p) const;
	gtsam::Point3 unrotate(const gtsam::Point3& p) const;

  // Standard Interface
	static gtsam::Rot3 Expmap(Vector v);
	static Vector Logmap(const gtsam::Rot3& p);
	Matrix matrix() const;
	Matrix transpose() const;
	gtsam::Point3 column(size_t index) const;
	Vector xyz() const;
	Vector ypr() const;
	Vector rpy() const;
	double roll() const;
	double pitch() const;
	double yaw() const;
//  Vector toQuaternion() const;  // FIXME: Can't cast to Vector properly
};

virtual class Pose2 : gtsam::Value {
  // Standard Constructor
	Pose2();
	Pose2(double x, double y, double theta);
	Pose2(double theta, const gtsam::Point2& t);
	Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
	Pose2(Vector v);

  // Testable
  void print(string s) const;
  bool equals(const gtsam::Pose2& pose, double tol) const;

  // Group
  static gtsam::Pose2 identity();
  gtsam::Pose2 inverse() const;
  gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
  gtsam::Pose2 between(const gtsam::Pose2& p2) const;

  // Manifold
  static size_t Dim();
  size_t dim() const;
  gtsam::Pose2 retract(Vector v) const;
  Vector localCoordinates(const gtsam::Pose2& p) const;

  // Lie Group
	static gtsam::Pose2 Expmap(Vector v);
	static Vector Logmap(const gtsam::Pose2& p);
  Matrix adjointMap() const;
  Vector adjoint(const Vector& xi) const;
  static Matrix wedge(double vx, double vy, double w);

  // Group Actions on Point2
  gtsam::Point2 transform_from(const gtsam::Point2& p) const;
  gtsam::Point2 transform_to(const gtsam::Point2& p) const;

  // Standard Interface
	double x() const;
	double y() const;
	double theta() const;
	gtsam::Rot2 bearing(const gtsam::Point2& point) const;
	double range(const gtsam::Point2& point) const;
	gtsam::Point2 translation() const;
	gtsam::Rot2 rotation() const;
  Matrix matrix() const;
};

virtual class Pose3 : gtsam::Value {
	// Standard Constructors
	Pose3();
	Pose3(const gtsam::Pose3& pose);
	Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
	Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
	Pose3(Matrix t);

	// Testable
	void print(string s) const;
	bool equals(const gtsam::Pose3& pose, double tol) const;

	// Group
	static gtsam::Pose3 identity();
	gtsam::Pose3 inverse() const;
	gtsam::Pose3 compose(const gtsam::Pose3& p2) const;
	gtsam::Pose3 between(const gtsam::Pose3& p2) const;

	// Manifold
	static size_t Dim();
	size_t dim() const;
	gtsam::Pose3 retract(Vector v) const;
	gtsam::Pose3 retractFirstOrder(Vector v) const;
	Vector localCoordinates(const gtsam::Pose3& T2) const;

	// Lie Group
	static gtsam::Pose3 Expmap(Vector v);
	static Vector Logmap(const gtsam::Pose3& p);
	Matrix adjointMap() const;
	Vector adjoint(const Vector& xi) const;
	static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz);

	// Group Action on Point3
	gtsam::Point3 transform_from(const gtsam::Point3& p) const;
	gtsam::Point3 transform_to(const gtsam::Point3& p) const;

	// Standard Interface
	gtsam::Rot3 rotation() const;
	gtsam::Point3 translation() const;
	double x() const;
	double y() const;
	double z() const;
	Matrix matrix() const;
	gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to()
	double range(const gtsam::Point3& point);
	double range(const gtsam::Pose3& pose);
};

virtual class Cal3_S2 : gtsam::Value {
  // Standard Constructors
  Cal3_S2();
  Cal3_S2(double fx, double fy, double s, double u0, double v0);
	Cal3_S2(Vector v);
	Cal3_S2(double fov, int w, int h);

  // Testable
  void print(string s) const;
  bool equals(const gtsam::Cal3_S2& rhs, double tol) const;

  // Manifold
  static size_t Dim();
  size_t dim() const;
  gtsam::Cal3_S2 retract(Vector v) const;
  Vector localCoordinates(const gtsam::Cal3_S2& c) const;

  // Action on Point2
  gtsam::Point2 calibrate(const gtsam::Point2& p) const;
  gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;

  // Standard Interface
  double fx() const;
  double fy() const;
  double skew() const;
  double px() const;
  double py() const;
  gtsam::Point2 principalPoint() const;
  Vector vector() const;
  Matrix matrix() const;
  Matrix matrix_inverse() const;
};

#include <gtsam/geometry/Cal3DS2.h>
virtual class Cal3DS2 : gtsam::Value {
	// Standard Constructors
	Cal3DS2();
	Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, double k2, double k3, double k4);
	Cal3DS2(Vector v);

	// Testable
	void print(string s) const;
	bool equals(const gtsam::Cal3DS2& rhs, double tol) const;

	// Manifold
	static size_t Dim();
	size_t dim() const;
	gtsam::Cal3DS2 retract(Vector v) const;
	Vector localCoordinates(const gtsam::Cal3DS2& c) const;

	// Action on Point2
	gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
	// TODO: D2d functions that start with an uppercase letter

	// Standard Interface
	double fx() const;
	double fy() const;
	double skew() const;
	double px() const;
	double py() const;
	Vector vector() const;
	Vector k() const;
	//Matrix K() const; //FIXME: Uppercase
};

class Cal3_S2Stereo {
  // Standard Constructors
  Cal3_S2Stereo();
  Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b);

  // Testable
  void print(string s) const;
  bool equals(const gtsam::Cal3_S2Stereo& pose, double tol) const;

  // Standard Interface
  double fx() const;
  double fy() const;
  double skew() const;
  double px() const;
  double py() const;
  gtsam::Point2 principalPoint() const;
  double baseline() const;
};

virtual class CalibratedCamera : gtsam::Value {
  // Standard Constructors and Named Constructors
	CalibratedCamera();
	CalibratedCamera(const gtsam::Pose3& pose);
	CalibratedCamera(const Vector& v);
  static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, double height);

  // Testable
	void print(string s) const;
	bool equals(const gtsam::CalibratedCamera& camera, double tol) const;

  // Manifold
  static size_t Dim();
  size_t dim() const;
  gtsam::CalibratedCamera retract(const Vector& d) const;
  Vector localCoordinates(const gtsam::CalibratedCamera& T2) const;

  // Group
  gtsam::CalibratedCamera compose(const gtsam::CalibratedCamera& c) const;
  gtsam::CalibratedCamera inverse() const;

  // Action on Point3
  gtsam::Point2 project(const gtsam::Point3& point) const;
  static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);

  // Standard Interface
	gtsam::Pose3 pose() const;
  double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods
};

virtual class SimpleCamera : gtsam::Value {
  // Standard Constructors and Named Constructors
	SimpleCamera();
  SimpleCamera(const gtsam::Pose3& pose);
  SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& K);
  static gtsam::SimpleCamera Level(const gtsam::Cal3_S2& K,
      const gtsam::Pose2& pose, double height);
  static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height); // FIXME overload
  static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye,
      const gtsam::Point3& target, const gtsam::Point3& upVector,
      const gtsam::Cal3_S2& K);

  // Testable
	void print(string s) const;
	bool equals(const gtsam::SimpleCamera& camera, double tol) const;

  // Standard Interface
  gtsam::Pose3 pose() const;
  gtsam::Cal3_S2 calibration();

	// Manifold
  gtsam::SimpleCamera retract(const Vector& d) const;
  Vector localCoordinates(const gtsam::SimpleCamera& T2) const;
  size_t dim() const;
  static size_t Dim();

  // Transformations and measurement functions
  static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
  pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
	gtsam::Point2 project(const gtsam::Point3& point);
	gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
  double range(const gtsam::Point3& point);
  double range(const gtsam::Pose3& point); // FIXME, overload
};

// TODO: Add this back in when Cal3DS2 has a calibrate function
//template<CALIBRATION = {gtsam::Cal3DS2}>
//virtual class PinholeCamera : gtsam::Value {
//	// Standard Constructors and Named Constructors
//	PinholeCamera();
//	PinholeCamera(const gtsam::Pose3& pose);
//	PinholeCamera(const gtsam::Pose3& pose, const gtsam::Cal3DS2& K);
//	static This Level(const gtsam::Cal3DS2& K,
//		const gtsam::Pose2& pose, double height);
//	static This Level(const gtsam::Pose2& pose, double height); // FIXME overload
//	static This Lookat(const gtsam::Point3& eye,
//		const gtsam::Point3& target, const gtsam::Point3& upVector,
//		const gtsam::Cal3DS2& K);
//
//	// Testable
//	void print(string s) const;
//	bool equals(const This& camera, double tol) const;
//
//	// Standard Interface
//	gtsam::Pose3 pose() const;
//	CALIBRATION calibration() const;
//
//	// Manifold
//	This retract(const Vector& d) const;
//	Vector localCoordinates(const This& T2) const;
//	size_t dim() const;
//	static size_t Dim();
//
//	// Transformations and measurement functions
//	static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
//	pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
//	gtsam::Point2 project(const gtsam::Point3& point);
//	gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
//	double range(const gtsam::Point3& point);
//	double range(const gtsam::Pose3& point); // FIXME, overload
//};

//*************************************************************************
// inference
//*************************************************************************
#include <gtsam/inference/Permutation.h>
class Permutation {
	// Standard Constructors and Named Constructors
	Permutation();
	Permutation(size_t nVars);
	static gtsam::Permutation Identity(size_t nVars);

	// Testable
	void print(string s) const;
	bool equals(const gtsam::Permutation& rhs, double tol) const;

	// Standard interface
	size_t at(size_t variable) const;
	size_t size() const;
	bool empty() const;
	void resize(size_t newSize);
	gtsam::Permutation* permute(const gtsam::Permutation& permutation) const;
	gtsam::Permutation* inverse() const;
	// FIXME: Cannot currently wrap std::vector
	//static gtsam::Permutation PullToFront(const vector<size_t>& toFront, size_t size, bool filterDuplicates);
	//static gtsam::Permutation PushToBack(const vector<size_t>& toBack, size_t size, bool filterDuplicates = false);
    gtsam::Permutation* partialPermutation(const gtsam::Permutation& selector, const gtsam::Permutation& partialPermutation) const;
};

class IndexFactor {
  // Standard Constructors and Named Constructors
  IndexFactor(const gtsam::IndexFactor& f);
  IndexFactor(const gtsam::IndexConditional& c);
  IndexFactor();
  IndexFactor(size_t j);
  IndexFactor(size_t j1, size_t j2);
  IndexFactor(size_t j1, size_t j2, size_t j3);
  IndexFactor(size_t j1, size_t j2, size_t j3, size_t j4);
  IndexFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5);
  IndexFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5, size_t j6);
  // FIXME: Must wrap std::set<Index> for this to work
  //IndexFactor(const std::set<Index>& js);
  void permuteWithInverse(const gtsam::Permutation& inversePermutation);

  // From Factor
  size_t size() const;
  void print(string s) const;
  bool equals(const gtsam::IndexFactor& other, double tol) const;
  // FIXME: Need to wrap std::vector<KeyType>
  //std::vector<KeyType>& keys();
};

class IndexConditional {
  // Standard Constructors and Named Constructors
  IndexConditional();
  IndexConditional(size_t key);
  IndexConditional(size_t key, size_t parent);
  IndexConditional(size_t key, size_t parent1, size_t parent2);
  IndexConditional(size_t key, size_t parent1, size_t parent2, size_t parent3);
  // FIXME: Must wrap std::vector<KeyType> for this to work
  //IndexFactor(size_t key, const std::vector<KeyType>& parents);
  //IndexConditional(const std::vector<Index>& keys, size_t nrFrontals);
  //template<class KEYS> static shared_ptr FromKeys(const KEYS& keys, size_t nrFrontals);

  // Testable
  void print(string s) const;
  bool equals(const gtsam::IndexConditional& other, double tol) const;

  // Standard interface
  size_t nrFrontals() const;
  size_t nrParents() const;
  gtsam::IndexFactor* toFactor() const;

  //Advanced interface
  bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation);
  void permuteWithInverse(const gtsam::Permutation& inversePermutation);
};

#include <gtsam/inference/SymbolicFactorGraph.h>
class SymbolicBayesNet {
  // Standard Constructors and Named Constructors
  SymbolicBayesNet();
  SymbolicBayesNet(const gtsam::SymbolicBayesNet& bn);
  SymbolicBayesNet(const gtsam::IndexConditional* conditional);

  // Testable
  void print(string s) const;
  bool equals(const gtsam::SymbolicBayesNet& other, double tol) const;

  // Standard interface
  size_t size() const;
  void push_back(const gtsam::IndexConditional* conditional);
  //TODO:Throws parse error
  //void push_back(const gtsam::SymbolicBayesNet bn);
  void push_front(const gtsam::IndexConditional* conditional);
  //TODO:Throws parse error
  //void push_front(const gtsam::SymbolicBayesNet bn);

  //Advanced Interface
  gtsam::IndexConditional* front() const;
  gtsam::IndexConditional* back() const;
  void pop_front();
  void permuteWithInverse(const gtsam::Permutation& inversePermutation);
  bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation);
};

#include <gtsam/inference/SymbolicFactorGraph.h>
class SymbolicBayesTree {
  // Standard Constructors and Named Constructors
  SymbolicBayesTree();
  SymbolicBayesTree(const gtsam::SymbolicBayesNet& bn);
  SymbolicBayesTree(const gtsam::SymbolicBayesTree& other);
  // FIXME: wrap needs to understand std::list
  //SymbolicBayesTree(const gtsam::SymbolicBayesNet& bayesNet, std::list<gtsam::SymbolicBayesTree> subtrees);

  // Testable
  void print(string s) const;
  bool equals(const gtsam::SymbolicBayesTree& other, double tol) const;

  // Standard interface
  size_t findParentClique(const gtsam::IndexConditional& parents) const;
  size_t size() const;
  void saveGraph(string s) const;
  void clear();
  // TODO: There are many other BayesTree member functions which might be of use
};

class SymbolicFactorGraph {
  // Standard Constructors and Named Constructors
  SymbolicFactorGraph();
  SymbolicFactorGraph(const gtsam::SymbolicBayesNet& bayesNet);
  SymbolicFactorGraph(const gtsam::SymbolicBayesTree& bayesTree);

  // From FactorGraph
  void push_back(gtsam::IndexFactor* factor);
  void print(string s) const;
  bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const;
  size_t size() const;

  // Standard interface
  // FIXME: Must wrap FastSet<Index> for this to work
  //FastSet<Index> keys() const;

  //Advanced Interface
  void push_factor(size_t key);
  void push_factor(size_t key1, size_t key2);
  void push_factor(size_t key1, size_t key2, size_t key3);
  void push_factor(size_t key1, size_t key2, size_t key3, size_t key4);

  pair<gtsam::IndexConditional*, gtsam::SymbolicFactorGraph> eliminateFrontals(size_t nFrontals) const;
};

#include <gtsam/inference/SymbolicSequentialSolver.h>
class SymbolicSequentialSolver {
  // Standard Constructors and Named Constructors
  SymbolicSequentialSolver(const gtsam::SymbolicFactorGraph& factorGraph);
  SymbolicSequentialSolver(const gtsam::SymbolicFactorGraph* factorGraph, const gtsam::VariableIndex* variableIndex);

  // Testable
  void print(string s) const;
  bool equals(const gtsam::SymbolicSequentialSolver& rhs, double tol) const;

  // Standard interface
  gtsam::SymbolicBayesNet* eliminate() const;
  gtsam::IndexFactor* marginalFactor(size_t j) const;
};

#include <gtsam/inference/SymbolicMultifrontalSolver.h>
class SymbolicMultifrontalSolver {
  // Standard Constructors and Named Constructors
  SymbolicMultifrontalSolver(const gtsam::SymbolicFactorGraph& factorGraph);
  SymbolicMultifrontalSolver(const gtsam::SymbolicFactorGraph* factorGraph, const gtsam::VariableIndex* variableIndex);

  // Testable
  void print(string s) const;
  bool equals(const gtsam::SymbolicMultifrontalSolver& rhs, double tol) const;

  // Standard interface
  gtsam::SymbolicBayesTree* eliminate() const;
  gtsam::IndexFactor* marginalFactor(size_t j) const;
};

#include <gtsam/inference/SymbolicFactorGraph.h>
class VariableIndex {
  // Standard Constructors and Named Constructors
  VariableIndex();
  // TODO: Templetize constructor when wrap supports it
  //template<T = {gtsam::FactorGraph}>
  //VariableIndex(const T& factorGraph, size_t nVariables);
  //VariableIndex(const T& factorGraph);
  VariableIndex(const gtsam::SymbolicFactorGraph& factorGraph);
  VariableIndex(const gtsam::SymbolicFactorGraph& factorGraph, size_t nVariables);
  VariableIndex(const gtsam::GaussianFactorGraph& factorGraph);
  VariableIndex(const gtsam::GaussianFactorGraph& factorGraph, size_t nVariables);
  VariableIndex(const gtsam::NonlinearFactorGraph& factorGraph);
  VariableIndex(const gtsam::NonlinearFactorGraph& factorGraph, size_t nVariables);
  VariableIndex(const gtsam::VariableIndex& other);

  // Testable
  bool equals(const gtsam::VariableIndex& other, double tol) const;
  void print(string s) const;

  // Standard interface
  size_t size() const;
  size_t nFactors() const;
  size_t nEntries() const;
  void permuteInPlace(const gtsam::Permutation& permutation);
};

#include <gtsam/inference/BayesTree.h>
template<CONDITIONAL, CLIQUE>
virtual class BayesTree {

    //Constructors
    BayesTree(); 

    //Standard Interface
    bool equals(const This& other, double tol) const;
    void print(string s);
		//size_t findParentClique(const gtsam::IndexVector& parents) const;
    size_t size();
    CLIQUE* root() const;
    void clear();
    void insert(const CLIQUE* subtree);
};

typedef gtsam::BayesTree<gtsam::GaussianConditional, gtsam::ISAM2Clique> ISAM2BayesTree;

//*************************************************************************
// linear
//*************************************************************************

namespace noiseModel {
#include <gtsam/linear/NoiseModel.h>
virtual class Base {
};

virtual class Gaussian : gtsam::noiseModel::Base {
	static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R);
	static gtsam::noiseModel::Gaussian* Covariance(Matrix R);
	//Matrix R() const;		// FIXME: cannot parse!!!
	bool equals(gtsam::noiseModel::Base& expected, double tol);
	void print(string s) const;
};

virtual class Diagonal : gtsam::noiseModel::Gaussian {
	static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas);
	static gtsam::noiseModel::Diagonal* Variances(Vector variances);
	static gtsam::noiseModel::Diagonal* Precisions(Vector precisions);
//	Matrix R() const;		// FIXME: cannot parse!!!
	void print(string s) const;
};

virtual class Constrained : gtsam::noiseModel::Diagonal {
    static gtsam::noiseModel::Constrained* MixedSigmas(const Vector& mu, const Vector& sigmas);
    static gtsam::noiseModel::Constrained* MixedSigmas(double m, const Vector& sigmas);
    static gtsam::noiseModel::Constrained* MixedVariances(const Vector& mu, const Vector& variances);
    static gtsam::noiseModel::Constrained* MixedVariances(const Vector& variances);
    static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& mu, const Vector& precisions);
    static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& precisions);

    static gtsam::noiseModel::Constrained* All(size_t dim);
    static gtsam::noiseModel::Constrained* All(size_t dim, double m);

    gtsam::noiseModel::Constrained* unit() const;
};

virtual class Isotropic : gtsam::noiseModel::Diagonal {
	static gtsam::noiseModel::Isotropic* Sigma(size_t dim, double sigma);
	static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace);
	static gtsam::noiseModel::Isotropic* Precision(size_t dim, double precision);
	void print(string s) const;
};

virtual class Unit : gtsam::noiseModel::Isotropic {
	static gtsam::noiseModel::Unit* Create(size_t dim);
	void print(string s) const;
};
}///\namespace noiseModel

#include <gtsam/linear/Sampler.h>
class Sampler {
    //Constructors
	Sampler(gtsam::noiseModel::Diagonal* model, int seed);
	Sampler(Vector sigmas, int seed);
	Sampler(int seed);

    //Standard Interface
	size_t dim() const;
	Vector sigmas() const;
	gtsam::noiseModel::Diagonal* model() const;
	Vector sample();
	Vector sampleNewModel(gtsam::noiseModel::Diagonal* model);
};

class VectorValues {
    //Constructors
	VectorValues();
	VectorValues(const gtsam::VectorValues& other);
	VectorValues(size_t nVars, size_t varDim);

	//Named Constructors
	static gtsam::VectorValues Zero(const gtsam::VectorValues& model);
	static gtsam::VectorValues Zero(size_t nVars, size_t varDim);
	static gtsam::VectorValues SameStructure(const gtsam::VectorValues& other);

	//Standard Interface
	size_t size() const;
	size_t dim(size_t j) const;
	size_t dim() const;
	bool exists(size_t j) const;
	void print(string s) const;
	bool equals(const gtsam::VectorValues& expected, double tol) const;
	void insert(size_t j, Vector value);
	Vector vector() const;
	Vector at(size_t j) const;

	//Advanced Interface
	void resizeLike(const gtsam::VectorValues& other);
	void resize(size_t nVars, size_t varDim);
	void setZero();

    //FIXME: Parse errors with vector()
	//const Vector& vector() const;
	//Vector& vector();
    bool hasSameStructure(const gtsam::VectorValues& other)	const;
    double dot(const gtsam::VectorValues& V) const;
    double norm() const;
};

class GaussianConditional {
    //Constructors
	GaussianConditional(size_t key, Vector d, Matrix R, Vector sigmas);
	GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
			Vector sigmas);
	GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S,
			size_t name2, Matrix T, Vector sigmas);

	//Standard Interface
	void print(string s) const;
	bool equals(const gtsam::GaussianConditional &cg, double tol) const;
	size_t dim() const;

	//Advanced Interface
	Matrix computeInformation() const;
    gtsam::JacobianFactor* toFactor() const;
    void solveInPlace(gtsam::VectorValues& x) const;
    void solveTransposeInPlace(gtsam::VectorValues& gy) const;
    void scaleFrontalsBySigma(gtsam::VectorValues& gy) const;
};

class GaussianDensity {
    //Constructors
	GaussianDensity(size_t key, Vector d, Matrix R, Vector sigmas);

	//Standard Interface
	void print(string s) const;
	Vector mean() const;
	Matrix information() const;
	Matrix covariance() const;
};

class GaussianBayesNet {
    //Constructors
	GaussianBayesNet();

	//Standard Interface
	void print(string s) const;
	bool equals(const gtsam::GaussianBayesNet& cbn, double tol) const;
	void push_back(gtsam::GaussianConditional* conditional);
	void push_front(gtsam::GaussianConditional* conditional);
};

//Non-Class methods found in GaussianBayesNet.h
//FIXME: No MATLAB documentation for these functions!
/*gtsam::GaussianBayesNet scalarGaussian(size_t key, double mu, double sigma);
gtsam::GaussianBayesNet simpleGaussian(size_t key, const Vector& mu, double sigma);
void push_front(gtsam::GaussianBayesNet& bn, size_t key, Vector d, Matrix R, size_t name1, Matrix S, Vector sigmas);
void push_front(gtsam::GaussianBayesNet& bn, size_t key, Vector d, Matrix R, size_t name1, Matrix S, size_t name2, Matrix T, Vector sigmas);
gtsam::VectorValues* allocateVectorValues(const gtsam::GaussianBayesNet& bn);
gtsam::VectorValues optimize(const gtsam::GaussianBayesNet& bn);
void optimizeInPlace(const gtsam::GaussianBayesNet& bn, gtsam::VectorValues& x);
gtsam::VectorValues optimizeGradientSearch(const gtsam::GaussianBayesNet& bn);
void optimizeGradientSearchInPlace(const gtsam::GaussianBayesNet& bn, gtsam::VectorValues& grad);
gtsam::VectorValues backSubstitute(const gtsam::GaussianBayesNet& bn, const gtsam::VectorValues& gx);
gtsam::VectorValues backSubstituteTranspose(const gtsam::GaussianBayesNet& bn, const gtsam::VectorValues& gx);
pair<Matrix, Vector> matrix(const gtsam::GaussianBayesNet& bn);
double determinant(const gtsam::GaussianBayesNet& bayesNet);
gtsam::VectorValues gradient(const gtsam::GaussianBayesNet& bayesNet, const gtsam::VectorValues& x0);
void gradientAtZero(const gtsam::GaussianBayesNet& bayesNet, const gtsam::VectorValues& g);*/

virtual class GaussianFactor {
	void print(string s) const;
	bool equals(const gtsam::GaussianFactor& lf, double tol) const;
	double error(const gtsam::VectorValues& c) const;
	gtsam::GaussianFactor* negate() const;
	size_t size() const;
};

virtual class JacobianFactor : gtsam::GaussianFactor {
    //Constructors
	JacobianFactor();
	JacobianFactor(Vector b_in);
	JacobianFactor(size_t i1, Matrix A1, Vector b,
			const gtsam::noiseModel::Diagonal* model);
	JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b,
			const gtsam::noiseModel::Diagonal* model);
	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::GaussianFactor& factor);

	//Testable
	void print(string s) const;
	void printKeys(string s) const;
	bool equals(const gtsam::GaussianFactor& lf, double tol) const;
	size_t size() const;
	Vector unweighted_error(const gtsam::VectorValues& c) const;
	Vector error_vector(const gtsam::VectorValues& c) const;
	double error(const gtsam::VectorValues& c) const;

	//Standard Interface
    gtsam::GaussianFactor* negate() const;
    bool empty() const;
    Matrix getA() const;
    Vector getb() const;
    size_t rows() const;
    size_t cols() const;
    size_t numberOfRows() const;
    bool isConstrained() const;
    pair<Matrix, Vector> matrix() const;
    Matrix matrix_augmented() const;

    gtsam::GaussianConditional* eliminateFirst();
    gtsam::GaussianConditional* eliminate(size_t nrFrontals);
    gtsam::GaussianFactor* negate() const;
    Matrix computeInformation() const;
    void transposeMultiplyAdd(double alpha, const Vector& e, gtsam::VectorValues& x) const;
    gtsam::JacobianFactor whiten() const;
    gtsam::GaussianConditional* eliminateFirst();
    gtsam::GaussianConditional* eliminate(size_t nFrontals);
    gtsam::GaussianConditional* splitConditional(size_t nFrontals);

    void setModel(bool anyConstrained, const Vector& sigmas);
    void assertInvariants() const;

    //gtsam::SharedDiagonal& get_model();
};

virtual class HessianFactor : gtsam::GaussianFactor {
    //Constructors
	HessianFactor(const gtsam::HessianFactor& gf);
	HessianFactor();
	HessianFactor(size_t j, Matrix G, Vector g, double f);
	HessianFactor(size_t j, Vector mu, Matrix Sigma);
	HessianFactor(size_t j1, size_t j2, Matrix G11, Matrix G12, Vector g1, Matrix G22,
			Vector g2, double f);
	HessianFactor(size_t j1, size_t j2, size_t j3, Matrix G11, Matrix G12, Matrix G13,
			Vector g1, Matrix G22, Matrix G23, Vector g2, Matrix G33, Vector g3,
			double f);
	HessianFactor(const gtsam::GaussianConditional& cg);
	HessianFactor(const gtsam::GaussianFactor& factor);

	//Testable
	size_t size() const;
	void print(string s) const;
	void printKeys(string s) const;
	bool equals(const gtsam::GaussianFactor& lf, double tol) const;
	double error(const gtsam::VectorValues& c) const;

	//Standard Interface
	size_t rows() const;
	gtsam::GaussianFactor* negate() const;
	Matrix info() const;
	double constantTerm() const;
	Vector linearTerm() const;
	Matrix computeInformation() const;

	//Advanced Interface
	void partialCholesky(size_t nrFrontals);
    gtsam::GaussianConditional* splitEliminatedFactor(size_t nrFrontals);
    void assertInvariants() const;
};

class GaussianFactorGraph {
	GaussianFactorGraph();
	GaussianFactorGraph(const gtsam::GaussianBayesNet& CBN);

	// From FactorGraph
	void print(string s) const;
	bool equals(const gtsam::GaussianFactorGraph& lfgraph, double tol) const;
	size_t size() const;
	gtsam::GaussianFactor* at(size_t idx) const;

	// Inference
	pair<gtsam::GaussianConditional*, gtsam::GaussianFactorGraph> eliminateFrontals(size_t nFrontals) const;

	// Building the graph
	void push_back(gtsam::GaussianFactor* factor);
	void add(const gtsam::GaussianFactor& factor);
	void add(Vector b);
	void add(size_t key1, Matrix A1, Vector b, const gtsam::noiseModel::Diagonal* model);
	void add(size_t key1, Matrix A1, size_t key2, Matrix A2, Vector b,
			const gtsam::noiseModel::Diagonal* model);
	void add(size_t key1, Matrix A1, size_t key2, Matrix A2, size_t key3, Matrix A3,
			Vector b, const gtsam::noiseModel::Diagonal* model);

    //Permutations
	void permuteWithInverse(const gtsam::Permutation& inversePermutation);

	// error and probability
	double error(const gtsam::VectorValues& c) const;
	double probPrime(const gtsam::VectorValues& c) const;

	// combining
	static gtsam::GaussianFactorGraph combine2(
			const gtsam::GaussianFactorGraph& lfg1,
			const gtsam::GaussianFactorGraph& lfg2);
	void combine(const gtsam::GaussianFactorGraph& lfg);

	// Conversion to matrices
	Matrix sparseJacobian_() const;
	Matrix augmentedJacobian() const;
	pair<Matrix,Vector> jacobian() const;
	Matrix augmentedHessian() const;
	pair<Matrix,Vector> hessian() const;
};

//Non-Class functions in GaussianFactorGraph.h
/*void multiplyInPlace(const gtsam::GaussianFactorGraph& fg, const gtsam::VectorValues& x, gtsam::Errors& e);
gtsam::VectorValues gradient(const gtsam::GaussianFactorGraph& fg, const gtsam::VectorValues& x0);
void gradientAtZero(const gtsam::GaussianFactorGraph& fg, gtsam::VectorValues& g);
void residual(const gtsam::GaussianFactorGraph& fg, const gtsam::VectorValues& x, gtsam::VectorValues& r);
void multiply(const gtsam::GaussianFactorGraph& fg, const gtsam::VectorValues& x, gtsam::VectorValues& r);
void transposeMultiply(const gtsam::GaussianFactorGraph& fg, const gtsam::VectorValues& x, gtsam::VectorValues& r);*/

class Errors {
    //Constructors
    Errors();
    Errors(const gtsam::VectorValues& V);

    //Testable
    void print(string s);
    bool equals(const gtsam::Errors& expected, double tol) const;
};

//Non-Class functions for Errors
//double dot(const gtsam::Errors& A, const gtsam::Errors& b);

class GaussianISAM {
  //Constructor
  GaussianISAM();

  //Standard Interface
  void saveGraph(string s) const;
  gtsam::GaussianFactor* marginalFactor(size_t j) const;
  gtsam::GaussianBayesNet* marginalBayesNet(size_t key) const;
  Matrix marginalCovariance(size_t key) const;
  gtsam::GaussianBayesNet* jointBayesNet(size_t key1, size_t key2) const;
  void clear();
};

#include <gtsam/linear/GaussianSequentialSolver.h>
class GaussianSequentialSolver {
    //Constructors
	GaussianSequentialSolver(const gtsam::GaussianFactorGraph& graph,
			bool useQR);

	//Standard Interface
	void replaceFactors(const gtsam::GaussianFactorGraph* factorGraph);
	gtsam::GaussianBayesNet* eliminate() const;
	gtsam::VectorValues* optimize() const;
	gtsam::GaussianFactor* marginalFactor(size_t j) const;
	Matrix marginalCovariance(size_t j) const;
};

#include <gtsam/linear/IterativeSolver.h>
virtual class IterativeOptimizationParameters {
  string getKernel() const ;
  string getVerbosity() const;
  void setKernel(string s) ;
  void setVerbosity(string s) ;
  void print() const;
};

//virtual class IterativeSolver {
//  IterativeSolver();
//  gtsam::VectorValues optimize ();
//};

#include <gtsam/linear/ConjugateGradientSolver.h>
virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParameters {
  ConjugateGradientParameters();
  size_t getMinIterations() const ;
  size_t getMaxIterations() const ;
  size_t getReset() const;
  double getEpsilon_rel() const;
  double getEpsilon_abs() const;

  void setMinIterations(size_t value);
  void setMaxIterations(size_t value);
  void setReset(size_t value);
  void setEpsilon_rel(double value);
  void setEpsilon_abs(double value);
  void print(string s);
};

#include <gtsam/linear/SubgraphSolver.h>
virtual class SubgraphSolverParameters : gtsam::ConjugateGradientParameters {
  SubgraphSolverParameters();
  void print(string s) const;
};

class SubgraphSolver  {
  SubgraphSolver(const gtsam::GaussianFactorGraph &A, const gtsam::SubgraphSolverParameters &parameters);
  SubgraphSolver(const gtsam::GaussianFactorGraph &Ab1, const gtsam::GaussianFactorGraph &Ab2, const gtsam::SubgraphSolverParameters &parameters);
  gtsam::VectorValues optimize() const;
};

#include <gtsam/linear/KalmanFilter.h>
class KalmanFilter {
	KalmanFilter(size_t n);
	// gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0);
	gtsam::GaussianDensity* init(Vector x0, Matrix P0);
	void print(string s) const;
	static size_t step(gtsam::GaussianDensity* p);
	gtsam::GaussianDensity* predict(gtsam::GaussianDensity* p, Matrix F,
			Matrix B, Vector u, const gtsam::noiseModel::Diagonal* modelQ);
	gtsam::GaussianDensity* predictQ(gtsam::GaussianDensity* p, Matrix F,
			Matrix B, Vector u, Matrix Q);
	gtsam::GaussianDensity* predict2(gtsam::GaussianDensity* p, Matrix A0,
			Matrix A1, Vector b, const gtsam::noiseModel::Diagonal* model);
	gtsam::GaussianDensity* update(gtsam::GaussianDensity* p, Matrix H,
			Vector z, const gtsam::noiseModel::Diagonal* model);
	gtsam::GaussianDensity* updateQ(gtsam::GaussianDensity* p, Matrix H,
			Vector z, Matrix Q);
};

//*************************************************************************
// nonlinear
//*************************************************************************

#include <gtsam/nonlinear/Symbol.h>
size_t symbol(char chr, size_t index);
char symbolChr(size_t key);
size_t symbolIndex(size_t key);

#include <gtsam/nonlinear/Ordering.h>
class Ordering {
  // Standard Constructors and Named Constructors
  Ordering();

	// Testable
	void print(string s) const;
	bool equals(const gtsam::Ordering& ord, double tol) const;

	// Standard interface
	size_t nVars() const;
  size_t size() const;
  size_t at(size_t key) const;
  bool exists(size_t key) const;
  void insert(size_t key, size_t order);
  void push_back(size_t key);
  void permuteWithInverse(const gtsam::Permutation& inversePermutation);
  gtsam::InvertedOrdering invert() const;
};

class InvertedOrdering {
	InvertedOrdering();

	// FIXME: add bracket operator overload

	bool empty() const;
	size_t size() const;
	bool count(size_t index) const; // Use as a boolean function with implicit cast

	void clear();
};

class NonlinearFactorGraph {
	NonlinearFactorGraph();
	NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph);

	// FactorGraph
	void print(string s) const;
	bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const;
	size_t size() const;
	bool empty() const;
	void remove(size_t i);
	size_t nrFactors() const;
	gtsam::NonlinearFactor* at(size_t i) const;
	void push_back(const gtsam::NonlinearFactorGraph& factors);

	// NonlinearFactorGraph
	double error(const gtsam::Values& values) const;
	double probPrime(const gtsam::Values& values) const;
	void add(const gtsam::NonlinearFactor* factor);
	gtsam::Ordering* orderingCOLAMD(const gtsam::Values& values) const;
	// Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map<gtsam::Key,int>& constraints) const;
	gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values,
			const gtsam::Ordering& ordering) const;
	gtsam::SymbolicFactorGraph* symbolic(const gtsam::Ordering& ordering) const;
	gtsam::NonlinearFactorGraph clone() const;
};

virtual class NonlinearFactor {
	void print(string s) const;
	void printKeys(string s) const;
	void equals(const gtsam::NonlinearFactor& other, double tol) const;
	gtsam::KeyVector keys() const;
	size_t size() const;
	size_t dim() const;
	double error(const gtsam::Values& c) const;
	bool active(const gtsam::Values& c) const;
	gtsam::GaussianFactor* linearize(const gtsam::Values& c, const gtsam::Ordering& ordering) const;
	gtsam::NonlinearFactor* clone() const;
	// gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen
};

#include <gtsam/nonlinear/Values.h>
class Values {
	Values();
	Values(const gtsam::Values& other);

	size_t size() const;
	bool empty() const;
    void clear();
    size_t dim() const;

	void print(string s) const;
	bool equals(const gtsam::Values& other, double tol) const;

	void insert(size_t j, const gtsam::Value& value);
    void insert(const gtsam::Values& values);
    void update(size_t j, const gtsam::Value& val);
    void update(const gtsam::Values& values);
    void erase(size_t j);
    void swap(gtsam::Values& values);

	bool exists(size_t j) const;
	gtsam::Value at(size_t j) const;
	gtsam::KeyList keys() const;

    gtsam::VectorValues zeroVectors(const gtsam::Ordering& ordering) const;
    gtsam::Ordering* orderingArbitrary(size_t firstVar) const;

    gtsam::Values retract(const gtsam::VectorValues& delta, const gtsam::Ordering& ordering) const;
    gtsam::VectorValues localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering) const;
    void localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering, gtsam::VectorValues& delta) const;
};

// Actually a FastList<Key>
#include <gtsam/nonlinear/Key.h>
class KeyList {
	KeyList();
	KeyList(const gtsam::KeyList& other);

	// Note: no print function

	// common STL methods
	size_t size() const;
	bool empty() const;
	void clear();

	// structure specific methods
	size_t front() const;
	size_t back() const;
	void push_back(size_t key);
	void push_front(size_t key);
	void sort();
	void remove(size_t key);
};

// Actually a FastSet<Key>
#include <gtsam/nonlinear/Key.h>
class KeySet {
	KeySet();
	KeySet(const gtsam::KeySet& other);

	// Testable
	void print(string s) const;
	bool equals(const gtsam::KeySet& other) const;

	// common STL methods
	size_t size() const;
	bool empty() const;
	void clear();

	// structure specific methods
	void insert(size_t key);
	bool erase(size_t key); // returns true if value was removed
	bool count(size_t key) const; // returns true if value exists
};

// Actually a FastVector<Key>
#include <gtsam/nonlinear/Key.h>
class KeyVector {
	KeyVector();
	KeyVector(const gtsam::KeyVector& other);
	KeyVector(const gtsam::KeySet& other);
	KeyVector(const gtsam::KeyList& other);

	// Note: no print function

	// common STL methods
	size_t size() const;
	bool empty() const;
	void clear();

	// structure specific methods
	size_t at(size_t i) const;
	size_t front() const;
	size_t back() const;
	void push_back(size_t key) const;
};

#include <gtsam/nonlinear/Marginals.h>
class Marginals {
	Marginals(const gtsam::NonlinearFactorGraph& graph,
			const gtsam::Values& solution);
	void print(string s) const;
	Matrix marginalCovariance(size_t variable) const;
	Matrix marginalInformation(size_t variable) const;
	gtsam::JointMarginal jointMarginalCovariance(const gtsam::KeyVector& variables) const;
	gtsam::JointMarginal jointMarginalInformation(const gtsam::KeyVector& variables) const;
};

class JointMarginal {
	Matrix at(size_t iVariable, size_t jVariable) const;
	Matrix fullMatrix() const;
	void print(string s) const;
	void print() const;
};

//*************************************************************************
// Nonlinear optimizers
//*************************************************************************

#include <gtsam/nonlinear/NonlinearOptimizer.h>
virtual class NonlinearOptimizerParams {
	NonlinearOptimizerParams();
	void print(string s) const;

	size_t getMaxIterations() const;
	double getRelativeErrorTol() const;
	double getAbsoluteErrorTol() const;
	double getErrorTol() const;
	string getVerbosity() const;

	void setMaxIterations(size_t value);
	void setRelativeErrorTol(double value);
	void setAbsoluteErrorTol(double value);
	void setErrorTol(double value);
	void setVerbosity(string s);
};

#include <gtsam/nonlinear/SuccessiveLinearizationOptimizer.h>
virtual class SuccessiveLinearizationParams : gtsam::NonlinearOptimizerParams {
  SuccessiveLinearizationParams();

	string getLinearSolverType() const;
	
	void setLinearSolverType(string solver);
	void setOrdering(const gtsam::Ordering& ordering);
	void setIterativeParams(const gtsam::SubgraphSolverParameters &params);

  bool isMultifrontal() const;
  bool isSequential() const;
  bool isCholmod() const;
  bool isCG() const;
};

#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
virtual class GaussNewtonParams : gtsam::SuccessiveLinearizationParams {
	GaussNewtonParams();
};

#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
virtual class LevenbergMarquardtParams : gtsam::SuccessiveLinearizationParams {
	LevenbergMarquardtParams();

  double getlambdaInitial() const;
  double getlambdaFactor() const;
  double getlambdaUpperBound() const;
  string getVerbosityLM() const;

  void setlambdaInitial(double value);
  void setlambdaFactor(double value);
  void setlambdaUpperBound(double value);
  void setVerbosityLM(string s);
};

#include <gtsam/nonlinear/DoglegOptimizer.h>
virtual class DoglegParams : gtsam::SuccessiveLinearizationParams {
	DoglegParams();

	double getDeltaInitial() const;
	string getVerbosityDL() const;

	void setDeltaInitial(double deltaInitial) const;
	void setVerbosityDL(string verbosityDL) const;
};

virtual class NonlinearOptimizer {
	gtsam::Values optimize();
	gtsam::Values optimizeSafely();
	double error() const;
	int iterations() const;
	gtsam::Values values() const;
	void iterate() const;
};

virtual class GaussNewtonOptimizer : gtsam::NonlinearOptimizer {
	GaussNewtonOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues);
	GaussNewtonOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::GaussNewtonParams& params);
};

virtual class DoglegOptimizer : gtsam::NonlinearOptimizer {
	DoglegOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues);
	DoglegOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::DoglegParams& params);
	double getDelta() const;
};

virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer {
	LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues);
	LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::LevenbergMarquardtParams& params);
	double lambda() const;
  void print(string str) const;
};

#include <gtsam/nonlinear/ISAM2.h>
class ISAM2GaussNewtonParams {
  ISAM2GaussNewtonParams();

  void print(string str) const;

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

class ISAM2DoglegParams {
  ISAM2DoglegParams();

  void print(string str) const;

  /** Getters and Setters for all properties */
  double getWildfireThreshold() const;
  void setWildfireThreshold(double wildfireThreshold);
  double getInitialDelta() const;
  void setInitialDelta(double initialDelta);
  string getAdaptationMode() const;
  void setAdaptationMode(string adaptationMode);
  bool isVerbose() const;
  void setVerbose(bool verbose);
};

class ISAM2ThresholdMapValue {
  ISAM2ThresholdMapValue(char c, Vector thresholds);
  ISAM2ThresholdMapValue(const gtsam::ISAM2ThresholdMapValue& other);
};

class ISAM2ThresholdMap {
  ISAM2ThresholdMap();
  ISAM2ThresholdMap(const gtsam::ISAM2ThresholdMap& other);

  // Note: no print function

  // common STL methods
  size_t size() const;
  bool empty() const;
  void clear();

  // structure specific methods
  void insert(const gtsam::ISAM2ThresholdMapValue& value) const;
};

class ISAM2Params {
  ISAM2Params();

  void print(string str) const;

  /** Getters and Setters for all properties */
  void setOptimizationParams(const gtsam::ISAM2GaussNewtonParams& params);
  void setOptimizationParams(const gtsam::ISAM2DoglegParams& params);
  void setRelinearizeThreshold(double relinearizeThreshold);
  void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& relinearizeThreshold);
  int getRelinearizeSkip() const;
  void setRelinearizeSkip(int relinearizeSkip);
  bool isEnableRelinearization() const;
  void setEnableRelinearization(bool enableRelinearization);
  bool isEvaluateNonlinearError() const;
  void setEvaluateNonlinearError(bool evaluateNonlinearError);
  string getFactorization() const;
  void setFactorization(string factorization);
  bool isCacheLinearizedFactors() const;
  void setCacheLinearizedFactors(bool cacheLinearizedFactors);
  bool isEnableDetailedResults() const;
  void setEnableDetailedResults(bool enableDetailedResults);
  bool isEnablePartialRelinearizationCheck() const;
  void setEnablePartialRelinearizationCheck(bool enablePartialRelinearizationCheck);
};

virtual class ISAM2Clique {

    //Constructors
    ISAM2Clique(const gtsam::GaussianConditional* conditional);

    //Standard Interface
    Vector gradientContribution() const;
    gtsam::ISAM2Clique* clone() const;
    void print(string s);

    void permuteWithInverse(const gtsam::Permutation& inversePermutation);
    bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation);
};

class ISAM2Result {
  ISAM2Result();

  void print(string str) const;

  /** Getters and Setters for all properties */
  size_t getVariablesRelinearized() const;
  size_t getVariablesReeliminated() const;
  size_t getCliques() const;
};

virtual class ISAM2  : gtsam::ISAM2BayesTree {
  ISAM2();
  ISAM2(const gtsam::ISAM2Params& params);

  bool equals(const gtsam::ISAM2& other, double tol) const;
  void print(string s) const;
  void printStats() const;
  void saveGraph(string s) const;

  gtsam::ISAM2Result update();
  gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta);
  gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices);
  // 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::Values getLinearizationPoint() const;
  gtsam::Values calculateEstimate() const;
  gtsam::Values calculateBestEstimate() const;
  gtsam::VectorValues getDelta() const;
  gtsam::NonlinearFactorGraph getFactorsUnsafe() const;
  gtsam::Ordering getOrdering() const;
  gtsam::VariableIndex getVariableIndex() const;
  gtsam::ISAM2Params params() const;
};

#include <gtsam/nonlinear/NonlinearISAM.h>
class NonlinearISAM {
	NonlinearISAM();
	NonlinearISAM(int reorderInterval);
  void print(string s) const;
  void printStats() const;
  void saveGraph(string s) const;
	gtsam::Values estimate() const;
  Matrix marginalCovariance(size_t key) const;
  int reorderInterval() const;
  int reorderCounter() const;
  void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& initialValues);
  void reorder_relinearize();
  void addKey(size_t key);
  void setOrdering(const gtsam::Ordering& new_ordering);

  // These might be expensive as instead of a reference the wrapper will make a copy
  gtsam::GaussianISAM bayesTree() const;
  gtsam::Values getLinearizationPoint() const;
  gtsam::Ordering getOrdering() const;
  gtsam::NonlinearFactorGraph getFactorsUnsafe() const;
};

//*************************************************************************
// Nonlinear factor types
//*************************************************************************
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3_S2Stereo.h>
#include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/geometry/StereoPoint2.h>

#include <gtsam/slam/PriorFactor.h>
template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera}>
virtual class PriorFactor : gtsam::NonlinearFactor {
	PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
};


#include <gtsam/slam/BetweenFactor.h>
template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
virtual class BetweenFactor : gtsam::NonlinearFactor {
	BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
};


#include <gtsam/nonlinear/NonlinearEquality.h>
template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera}>
virtual class NonlinearEquality : gtsam::NonlinearFactor {
	// Constructor - forces exact evaluation
	NonlinearEquality(size_t j, const T& feasible);
	// Constructor - allows inexact evaluation
	NonlinearEquality(size_t j, const T& feasible, double error_gain);
};


#include <gtsam/slam/RangeFactor.h>
template<POSE, POINT>
virtual class RangeFactor : gtsam::NonlinearFactor {
	RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel);
};

typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
typedef gtsam::RangeFactor<gtsam::Pose3, gtsam::Point3> RangeFactorPosePoint3;
typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Pose2> RangeFactorPose2;
typedef gtsam::RangeFactor<gtsam::Pose3, gtsam::Pose3> RangeFactorPose3;
typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::Point3> RangeFactorCalibratedCameraPoint;
typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::Point3> RangeFactorSimpleCameraPoint;
typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::CalibratedCamera> RangeFactorCalibratedCamera;
typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactorSimpleCamera;


#include <gtsam/slam/BearingFactor.h>
template<POSE, POINT, ROTATION>
virtual class BearingFactor : gtsam::NonlinearFactor {
	BearingFactor(size_t key1, size_t key2, const ROTATION& measured, const gtsam::noiseModel::Base* noiseModel);
};

typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingFactor2D;


#include <gtsam/slam/BearingRangeFactor.h>
template<POSE, POINT, ROTATION>
virtual class BearingRangeFactor : gtsam::NonlinearFactor {
	BearingRangeFactor(size_t poseKey, size_t pointKey, const ROTATION& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel);
};

typedef gtsam::BearingRangeFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingRangeFactor2D;


#include <gtsam/slam/ProjectionFactor.h>
template<POSE, LANDMARK, CALIBRATION>
virtual class GenericProjectionFactor : gtsam::NonlinearFactor {
	GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
		size_t poseKey, size_t pointKey, const CALIBRATION* k);
	gtsam::Point2 measured() const;
	CALIBRATION* calibration() const;
};
typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> GenericProjectionFactorCal3_S2;
// FIXME: Add Cal3DS2 when it has a 'calibrate' function
//typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> GenericProjectionFactorCal3DS2;


#include <gtsam/slam/GeneralSFMFactor.h>
template<CAMERA, LANDMARK>
virtual class GeneralSFMFactor : gtsam::NonlinearFactor {
	GeneralSFMFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t cameraKey, size_t landmarkKey);
	gtsam::Point2 measured() const;
};
typedef gtsam::GeneralSFMFactor<gtsam::SimpleCamera, gtsam::Point3> GeneralSFMFactorCal3_S2;
// FIXME: Add Cal3DS2 when it has a 'calibrate' function
//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;

// FIXME: Add Cal3DS2 when it has a 'calibrate' function
template<CALIBRATION = {gtsam::Cal3_S2}>
virtual class GeneralSFMFactor2 : gtsam::NonlinearFactor {
	GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey);
	gtsam::Point2 measured() const;
};


#include <gtsam/slam/StereoFactor.h>
template<POSE, LANDMARK>
virtual class GenericStereoFactor : gtsam::NonlinearFactor {
	GenericStereoFactor(const gtsam::StereoPoint2& measured, const gtsam::noiseModel::Base* noiseModel,
		size_t poseKey, size_t landmarkKey, const gtsam::Cal3_S2Stereo* K);
	gtsam::StereoPoint2 measured() const;
	gtsam::Cal3_S2Stereo* calibration() const;
};
typedef gtsam::GenericStereoFactor<gtsam::Pose3, gtsam::Point3> GenericStereoFactor3D;

#include <gtsam/slam/dataset.h>
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
    gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
		gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
		gtsam::noiseModel::Diagonal* model, int maxID);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
		gtsam::noiseModel::Diagonal* model);


//*************************************************************************
// Utilities
//*************************************************************************

namespace utilities {

  #include <matlab.h>
  Matrix extractPoint2(const gtsam::Values& values);
  Matrix extractPoint3(const gtsam::Values& values);
  Matrix extractPose2(const gtsam::Values& values);
  Matrix extractPose3(const gtsam::Values& values);
  void perturbPoint2(gtsam::Values& values, double sigma, int seed);
  void perturbPoint3(gtsam::Values& values, double sigma, int seed);
  void insertBackprojections(gtsam::Values& values, const gtsam::SimpleCamera& c, Vector J, Matrix Z, double depth);
  void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K);
  Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values);

} //\namespace utilities

}