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enable pickling for a bunch of objects

release/4.3a0
Varun Agrawal 2021-11-28 22:08:19 -05:00
parent 007022df6f
commit 247d996a79
2 changed files with 39 additions and 0 deletions
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15
gtsam/linear/linear.i
View File

@ -34,6 +34,9 @@ virtual class Gaussian : gtsam::noiseModel::Base {
// enabling serialization functionality // enabling serialization functionality
void serializable() const; void serializable() const;
// enable pickling in python
void pickle() const;
}; };
virtual class Diagonal : gtsam::noiseModel::Gaussian { virtual class Diagonal : gtsam::noiseModel::Gaussian {
@ -49,6 +52,9 @@ virtual class Diagonal : gtsam::noiseModel::Gaussian {
// enabling serialization functionality // enabling serialization functionality
void serializable() const; void serializable() const;
// enable pickling in python
void pickle() const;
}; };
virtual class Constrained : gtsam::noiseModel::Diagonal { virtual class Constrained : gtsam::noiseModel::Diagonal {
@ -66,6 +72,9 @@ virtual class Constrained : gtsam::noiseModel::Diagonal {
// enabling serialization functionality // enabling serialization functionality
void serializable() const; void serializable() const;
// enable pickling in python
void pickle() const;
}; };
virtual class Isotropic : gtsam::noiseModel::Diagonal { virtual class Isotropic : gtsam::noiseModel::Diagonal {
@ -78,6 +87,9 @@ virtual class Isotropic : gtsam::noiseModel::Diagonal {
// enabling serialization functionality // enabling serialization functionality
void serializable() const; void serializable() const;
// enable pickling in python
void pickle() const;
}; };
virtual class Unit : gtsam::noiseModel::Isotropic { virtual class Unit : gtsam::noiseModel::Isotropic {
@ -85,6 +97,9 @@ virtual class Unit : gtsam::noiseModel::Isotropic {
// enabling serialization functionality // enabling serialization functionality
void serializable() const; void serializable() const;
// enable pickling in python
void pickle() const;
}; };
namespace mEstimator { namespace mEstimator {

24
gtsam/navigation/navigation.i
View File

@ -41,6 +41,12 @@ class ConstantBias {
Vector gyroscope() const; Vector gyroscope() const;
Vector correctAccelerometer(Vector measurement) const; Vector correctAccelerometer(Vector measurement) const;
Vector correctGyroscope(Vector measurement) const; Vector correctGyroscope(Vector measurement) const;
// enabling serialization functionality
void serialize() const;
// enable pickling in python
void pickle() const;
}; };
}///\namespace imuBias }///\namespace imuBias
@ -64,6 +70,12 @@ class NavState {
gtsam::NavState retract(const Vector& x) const; gtsam::NavState retract(const Vector& x) const;
Vector localCoordinates(const gtsam::NavState& g) const; Vector localCoordinates(const gtsam::NavState& g) const;
// enabling serialization functionality
void serialize() const;
// enable pickling in python
void pickle() const;
}; };
#include <gtsam/navigation/PreintegratedRotation.h> #include <gtsam/navigation/PreintegratedRotation.h>
@ -106,6 +118,12 @@ virtual class PreintegrationParams : gtsam::PreintegratedRotationParams {
Matrix getAccelerometerCovariance() const; Matrix getAccelerometerCovariance() const;
Matrix getIntegrationCovariance() const; Matrix getIntegrationCovariance() const;
bool getUse2ndOrderCoriolis() const; bool getUse2ndOrderCoriolis() const;
// enabling serialization functionality
void serialize() const;
// enable pickling in python
void pickle() const;
}; };
#include <gtsam/navigation/ImuFactor.h> #include <gtsam/navigation/ImuFactor.h>
@ -135,6 +153,12 @@ class PreintegratedImuMeasurements {
Vector biasHatVector() const; Vector biasHatVector() const;
gtsam::NavState predict(const gtsam::NavState& state_i, gtsam::NavState predict(const gtsam::NavState& state_i,
const gtsam::imuBias::ConstantBias& bias) const; const gtsam::imuBias::ConstantBias& bias) const;
// enabling serialization functionality
void serialize() const;
// enable pickling in python
void pickle() const;
}; };
virtual class ImuFactor: gtsam::NonlinearFactor { virtual class ImuFactor: gtsam::NonlinearFactor {