Merge branch 'develop' of bitbucket.org:gtborg/gtsam into feature/partition
Andrew Melim
commit
4c86ea1ab5
|
|
@ -321,6 +321,9 @@ if (DOXYGEN_FOUND)
|
|||
add_subdirectory(doc)
|
||||
endif()
|
||||
|
||||
# CMake Tools
|
||||
add_subdirectory(cmake)
|
||||
|
||||
|
||||
###############################################################################
|
||||
# Set up CPack
|
||||
|
|
|
|||
|
|
@ -0,0 +1,26 @@
|
|||
# This file installs the scripts from this directory that may be used in other
|
||||
# projects. See README.txt in this directory for documentation.
|
||||
|
||||
# Set the install directory depending on the platform so it will be found by
|
||||
# find_package(GTSAMCMakeTools)
|
||||
if(WIN32 AND NOT CYGWIN)
|
||||
set(SCRIPT_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/CMake")
|
||||
else()
|
||||
set(SCRIPT_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/lib/cmake")
|
||||
endif()
|
||||
|
||||
# Install scripts
|
||||
install(FILES
|
||||
GTSAMCMakeToolsConfig.cmake
|
||||
Config.cmake.in
|
||||
dllexport.h.in
|
||||
GtsamBuildTypes.cmake
|
||||
GtsamMakeConfigFile.cmake
|
||||
GtsamMatlabWrap.cmake
|
||||
GtsamPythonWrap.cmake
|
||||
GtsamTesting.cmake
|
||||
GtsamTestingObsolete.cmake
|
||||
README.html
|
||||
DESTINATION "${SCRIPT_INSTALL_DIR}/GTSAMCMakeTools")
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
# This config file modifies CMAKE_MODULE_PATH so that the GTSAM-CMakeTools files may be included
|
||||
|
||||
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}")
|
||||
|
|
@ -45,8 +45,8 @@ if(NOT FIRST_PASS_DONE)
|
|||
set(CMAKE_EXE_LINKER_FLAGS_TIMING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
|
||||
set(CMAKE_SHARED_LINKER_FLAGS_TIMING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
|
||||
mark_as_advanced(CMAKE_C_FLAGS_TIMING CMAKE_CXX_FLAGS_TIMING CMAKE_EXE_LINKER_FLAGS_TIMING CMAKE_SHARED_LINKER_FLAGS_TIMING)
|
||||
set(CMAKE_C_FLAGS_PROFILING "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
|
||||
set(CMAKE_CXX_FLAGS_PROFILING "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
|
||||
set(CMAKE_C_FLAGS_PROFILING "-g1 -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
|
||||
set(CMAKE_CXX_FLAGS_PROFILING "-g1 -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
|
||||
set(CMAKE_EXE_LINKER_FLAGS_PROFILING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
|
||||
set(CMAKE_SHARED_LINKER_FLAGS_PROFILING "${CMAKE__LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
|
||||
mark_as_advanced(CMAKE_C_FLAGS_PROFILING CMAKE_CXX_FLAGS_PROFILING CMAKE_EXE_LINKER_FLAGS_PROFILING CMAKE_SHARED_LINKER_FLAGS_PROFILING)
|
||||
|
|
|
|||
|
|
@ -40,19 +40,28 @@ set(MATLAB_ROOT "${MATLAB_ROOT}" CACHE PATH "Path to MATLAB installation root (e
|
|||
|
||||
|
||||
# User-friendly wrapping function. Builds a mex module from the provided
|
||||
# interfaceHeader. For example, for the interface header /path/to/gtsam.h,
|
||||
# interfaceHeader. For example, for the interface header gtsam.h,
|
||||
# this will build the wrap module 'gtsam'.
|
||||
# Params:
|
||||
# interfaceHeader : Absolute or relative path to the interface definition file
|
||||
# linkLibraries : All dependent CMake target names, library names, or full library paths
|
||||
# extraIncludeDirs : Extra include directories, in addition to those already passed to include_directories(...)
|
||||
# extraMexFlags : Any additional compiler flags
|
||||
#
|
||||
# Arguments:
|
||||
#
|
||||
# interfaceHeader: The relative path to the wrapper interface definition file.
|
||||
# linkLibraries: Any *additional* libraries to link. Your project library
|
||||
# (e.g. `lba`), libraries it depends on, and any necessary
|
||||
# MATLAB libraries will be linked automatically. So normally,
|
||||
# leave this empty.
|
||||
# extraIncludeDirs: Any *additional* include paths required by dependent
|
||||
# libraries that have not already been added by
|
||||
# include_directories. Again, normally, leave this empty.
|
||||
# extraMexFlags: Any *additional* flags to pass to the compiler when building
|
||||
# the wrap code. Normally, leave this empty.
|
||||
function(wrap_and_install_library interfaceHeader linkLibraries extraIncludeDirs extraMexFlags)
|
||||
wrap_library_internal("${interfaceHeader}" "${linkLibraries}" "${extraIncludeDirs}" "${mexFlags}")
|
||||
install_wrapped_library_internal("${interfaceHeader}")
|
||||
endfunction()
|
||||
|
||||
|
||||
# Internal function that wraps a library and compiles the wrapper
|
||||
function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs extraMexFlags)
|
||||
if(UNIX AND NOT APPLE)
|
||||
if(CMAKE_SIZEOF_VOID_P EQUAL 8)
|
||||
|
|
@ -187,6 +196,7 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
|
|||
COMMAND cmake -E remove_directory ${compiled_mex_modules_root})
|
||||
endfunction()
|
||||
|
||||
# Internal function that installs a wrap toolbox
|
||||
function(install_wrapped_library_internal interfaceHeader)
|
||||
get_filename_component(moduleName "${interfaceHeader}" NAME_WE)
|
||||
set(generated_files_path "${PROJECT_BINARY_DIR}/wrap/${moduleName}")
|
||||
|
|
@ -218,6 +228,8 @@ function(install_wrapped_library_internal interfaceHeader)
|
|||
endif()
|
||||
endfunction()
|
||||
|
||||
# Internal function to check for libraries installed with MATLAB that may conflict
|
||||
# and prints a warning to move them if problems occur.
|
||||
function(check_conflicting_libraries_internal libraries)
|
||||
if(UNIX)
|
||||
# Set path for matlab's built-in libraries
|
||||
|
|
@ -288,54 +300,6 @@ function(check_conflicting_libraries_internal libraries)
|
|||
endif()
|
||||
endfunction()
|
||||
|
||||
|
||||
# Function to setup codegen and building of the wrap toolbox
|
||||
#
|
||||
# params:
|
||||
# moduleName : the name of the module, interface file must be called moduleName.h
|
||||
# mexFlags : Compilation flags to be passed to the mex compiler
|
||||
# modulePath : relative path to module markup header file (called moduleName.h)
|
||||
# otherLibraries : list of library targets this should depend on
|
||||
# toolboxPath : the directory in which to generate/build wrappers
|
||||
# wrap_header_path : path to the installed wrap header
|
||||
function(wrap_library_generic moduleName mexFlags modulePath otherLibraries toolbox_path wrap_header_path)
|
||||
|
||||
if(NOT "${CMAKE_PROJECT_NAME}" STREQUAL "GTSAM")
|
||||
message("Your project uses wrap_library or wrap_library_generic - this is deprecated, please use the more user-friendly function wrap_and_install_library")
|
||||
endif()
|
||||
|
||||
# Append module name to link libraries to keep original behavior
|
||||
list(APPEND otherLibraries ${moduleName})
|
||||
|
||||
# Set up arguments
|
||||
set(interfaceHeader ${modulePath}/${moduleName}.h)
|
||||
|
||||
# Call internal function
|
||||
wrap_library_internal("${interfaceHeader}" "${otherLibraries}" "" "${mexFlags}")
|
||||
endfunction(wrap_library_generic)
|
||||
|
||||
# Function to setup codegen, building and installation of the wrap toolbox
|
||||
# This wrap setup function assumes that the toolbox will be installed directly,
|
||||
# with predictable matlab.h sourcing. Use this version when the toolbox will be used
|
||||
# from the installed version, rather than in place.
|
||||
# Assumes variable GTSAM_WRAP_HEADER_PATH has been set
|
||||
# params:
|
||||
# moduleName : the name of the module, interface file must be called moduleName.h
|
||||
# mexFlags : Compilation flags to be passed to the mex compiler
|
||||
# modulePath : relative path to module markup header file (called moduleName.h)
|
||||
# otherLibraries : list of library targets this should depend on
|
||||
function(wrap_library moduleName mexFlags modulePath otherLibraries)
|
||||
# Toolbox generation path goes in build folder
|
||||
set(toolbox_base_path ${PROJECT_BINARY_DIR}/wrap)
|
||||
set(toolbox_path ${toolbox_base_path}/${moduleName})
|
||||
|
||||
# Call generic version of function
|
||||
wrap_library_generic("${moduleName}" "${mexFlags}" "${modulePath}" "${otherLibraries}" "${toolbox_path}" "${GTSAM_WRAP_HEADER_PATH}")
|
||||
|
||||
install_wrapped_library_internal("${modulePath}/${moduleName}.h")
|
||||
|
||||
endfunction(wrap_library)
|
||||
|
||||
# Helper function to install MATLAB scripts and handle multiple build types where the scripts
|
||||
# should be installed to all build type toolboxes
|
||||
function(install_matlab_scripts source_directory patterns)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,92 @@
|
|||
<h1>GTSAMCMakeTools</h1>
|
||||
<p>This is the collection of GTSAM CMake tools that may be useful in external projects. The way to use this collection is by first making a find_package call:</p>
|
||||
<pre><code>find_package(GTSAMCMakeTools)
|
||||
</code></pre>
|
||||
<p>which will add a directory containing the GTSAM CMake tools to the CMAKE_MODULE_PATH variable. After that, you may include the files you would like to use. These files and the functions they define are explained below.</p>
|
||||
<h2>GtsamBuildTypes</h2>
|
||||
<pre><code>include(GtsamBuildTypes)
|
||||
</code></pre>
|
||||
<p>Including this file immediately sets up the following build types and a drop-down list in cmake-gui:</p>
|
||||
<ul>
|
||||
<li><code>Debug</code></li>
|
||||
<li><code>Release</code></li>
|
||||
<li><code>RelWithDebInfo</code></li>
|
||||
<li><code>Profiling</code>: All optimizations enabled and minimal debug symbols</li>
|
||||
<li><code>Timing</code>: Defines the symbol GTSAM_ENABLE_TIMING for using GTSAM timing instrumentation</li>
|
||||
</ul>
|
||||
<p>It also configures several minor details, as follows:</p>
|
||||
<ul>
|
||||
<li>The compile flag <code>-ftemplate-depth=1024</code> is set for newer versions of Clang to handle complex templates.</li>
|
||||
<li>On Windows, executable and dll output paths are set to <code>${CMAKE_BINARY_DIR}/bin</code> and import library output to <code>${CMAKE_BINARY_DIR}/bin</code>.</li>
|
||||
</ul>
|
||||
<p>It defines the following functions:</p>
|
||||
<ul>
|
||||
<li><code>gtsam_assign_source_folders( [files] )</code> Organizes files in the IDE into folders to reflect the actual directory structure of those files. Folders will be determined relative to the current source folder when this function is called.</li>
|
||||
<li><code>gtsam_assign_all_source_folders()</code> Calls <code>gtsam_assign_source_folders</code> on all cpp, c, and h files recursively in the current source folder.</li>
|
||||
</ul>
|
||||
<h2>GtsamTesting</h2>
|
||||
<pre><code>include(GtsamTesting)
|
||||
</code></pre>
|
||||
<p>Defines two useful functions for creating CTest unit tests. Also immediately creates a <code>check</code> target that builds and runs all unit tests.</p>
|
||||
<ul>
|
||||
<li>
|
||||
<p><code>gtsamAddTestsGlob(groupName globPatterns excludedFiles linkLibraries)</code> Add a group of unit tests. A list of unit test .cpp files or glob patterns specifies the tests to create. Tests are assigned into a group name so they can easily by run independently with a make target. Running 'make check' builds and runs all tests.</p>
|
||||
<p>Usage example:</p>
|
||||
<pre><code>gtsamAddTestsGlob(basic "test*.cpp" "testBroken.cpp" "gtsam;GeographicLib")
|
||||
</code></pre>
|
||||
<p>Arguments:</p>
|
||||
<pre><code>groupName: A name that will allow this group of tests to be run independently, e.g.
|
||||
'basic' causes a 'check.basic' target to be created to run this test
|
||||
group.
|
||||
globPatterns: The list of files or glob patterns from which to create unit tests, with
|
||||
one test created for each cpp file. e.g. "test*.cpp", or
|
||||
"testA*.cpp;testB*.cpp;testOneThing.cpp".
|
||||
excludedFiles: A list of files or globs to exclude, e.g. "testC*.cpp;testBroken.cpp".
|
||||
Pass an empty string "" if nothing needs to be excluded.
|
||||
linkLibraries: The list of libraries to link to in addition to CppUnitLite.
|
||||
</code></pre>
|
||||
</li>
|
||||
<li>
|
||||
<p><code>gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries)</code> Add scripts that will serve as examples of how to use the library. A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file. These executables will not be installed. They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled. They may also be built with 'make examples'.</p>
|
||||
<p>Usage example:</p>
|
||||
<pre><code>gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib")
|
||||
</code></pre>
|
||||
<p>Arguments:</p>
|
||||
<pre><code>globPatterns: The list of files or glob patterns from which to create unit tests, with
|
||||
one test created for each cpp file. e.g. "*.cpp", or
|
||||
"A*.cpp;B*.cpp;MyExample.cpp".
|
||||
excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp". Pass
|
||||
an empty string "" if nothing needs to be excluded.
|
||||
linkLibraries: The list of libraries to link to.
|
||||
</code></pre>
|
||||
</li>
|
||||
</ul>
|
||||
<h2>GtsamMatlabWrap</h2>
|
||||
<pre><code>include(GtsamMatlabWrap)
|
||||
</code></pre>
|
||||
<p>Defines functions for generating MATLAB wrappers. Also immediately creates several CMake options for configuring the wrapper.</p>
|
||||
<ul>
|
||||
<li>
|
||||
<p><code>wrap_and_install_library(interfaceHeader linkLibraries extraIncludeDirs extraMexFlags)</code> Generates wrap code and compiles the wrapper.</p>
|
||||
<p>Usage example:</p>
|
||||
<pre><code>`wrap_and_install_library("lba.h" "" "" "")`
|
||||
</code></pre>
|
||||
<p>Arguments:</p>
|
||||
<pre><code>interfaceHeader: The relative or absolute path to the wrapper interface
|
||||
definition file.
|
||||
linkLibraries: Any *additional* libraries to link. Your project library
|
||||
(e.g. `lba`), libraries it depends on, and any necessary
|
||||
MATLAB libraries will be linked automatically. So normally,
|
||||
leave this empty.
|
||||
extraIncludeDirs: Any *additional* include paths required by dependent
|
||||
libraries that have not already been added by
|
||||
include_directories. Again, normally, leave this empty.
|
||||
extraMexFlags: Any *additional* flags to pass to the compiler when building
|
||||
the wrap code. Normally, leave this empty.
|
||||
</code></pre>
|
||||
</li>
|
||||
</ul>
|
||||
<h2>GtsamMakeConfigFile</h2>
|
||||
<pre><code>include(GtsamMakeConfigFile)
|
||||
</code></pre>
|
||||
<p>Defines a function for generating a config file so your project may be found with the CMake <code>find_package</code> function. TODO: Write documentation.</p>
|
||||
|
|
@ -0,0 +1,105 @@
|
|||
GTSAMCMakeTools
|
||||
===============
|
||||
|
||||
This is the collection of GTSAM CMake tools that may be useful in external projects. The way to use this collection is by first making a find_package call:
|
||||
|
||||
find_package(GTSAMCMakeTools)
|
||||
|
||||
which will add a directory containing the GTSAM CMake tools to the CMAKE_MODULE_PATH variable. After that, you may include the files you would like to use. These files and the functions they define are explained below.
|
||||
|
||||
GtsamBuildTypes
|
||||
---------------
|
||||
|
||||
include(GtsamBuildTypes)
|
||||
|
||||
Including this file immediately sets up the following build types and a drop-down list in cmake-gui:
|
||||
|
||||
* `Debug`
|
||||
* `Release`
|
||||
* `RelWithDebInfo`
|
||||
* `Profiling`: All optimizations enabled and minimal debug symbols
|
||||
* `Timing`: Defines the symbol GTSAM_ENABLE_TIMING for using GTSAM timing instrumentation
|
||||
|
||||
It also configures several minor details, as follows:
|
||||
|
||||
* The compile flag `-ftemplate-depth=1024` is set for newer versions of Clang to handle complex templates.
|
||||
* On Windows, executable and dll output paths are set to `${CMAKE_BINARY_DIR}/bin` and import library output to `${CMAKE_BINARY_DIR}/lib`.
|
||||
|
||||
It defines the following functions:
|
||||
|
||||
* `gtsam_assign_source_folders( [files] )` Organizes files in the IDE into folders to reflect the actual directory structure of those files. Folders will be determined relative to the current source folder when this function is called.
|
||||
* `gtsam_assign_all_source_folders()` Calls `gtsam_assign_source_folders` on all cpp, c, and h files recursively in the current source folder.
|
||||
|
||||
GtsamTesting
|
||||
------------
|
||||
|
||||
include(GtsamTesting)
|
||||
|
||||
Defines two useful functions for creating CTest unit tests. Also immediately creates a `check` target that builds and runs all unit tests.
|
||||
|
||||
* `gtsamAddTestsGlob(groupName globPatterns excludedFiles linkLibraries)` Add a group of unit tests. A list of unit test .cpp files or glob patterns specifies the tests to create. Tests are assigned into a group name so they can easily by run independently with a make target. Running 'make check' builds and runs all tests.
|
||||
|
||||
Usage example:
|
||||
|
||||
gtsamAddTestsGlob(basic "test*.cpp" "testBroken.cpp" "gtsam;GeographicLib")
|
||||
|
||||
Arguments:
|
||||
|
||||
groupName: A name that will allow this group of tests to be run independently, e.g.
|
||||
'basic' causes a 'check.basic' target to be created to run this test
|
||||
group.
|
||||
globPatterns: The list of files or glob patterns from which to create unit tests, with
|
||||
one test created for each cpp file. e.g. "test*.cpp", or
|
||||
"testA*.cpp;testB*.cpp;testOneThing.cpp".
|
||||
excludedFiles: A list of files or globs to exclude, e.g. "testC*.cpp;testBroken.cpp".
|
||||
Pass an empty string "" if nothing needs to be excluded.
|
||||
linkLibraries: The list of libraries to link to in addition to CppUnitLite.
|
||||
|
||||
* `gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries)` Add scripts that will serve as examples of how to use the library. A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file. These executables will not be installed. They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled. They may also be built with 'make examples'.
|
||||
|
||||
Usage example:
|
||||
|
||||
gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib")
|
||||
|
||||
Arguments:
|
||||
|
||||
globPatterns: The list of files or glob patterns from which to create unit tests, with
|
||||
one test created for each cpp file. e.g. "*.cpp", or
|
||||
"A*.cpp;B*.cpp;MyExample.cpp".
|
||||
excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp". Pass
|
||||
an empty string "" if nothing needs to be excluded.
|
||||
linkLibraries: The list of libraries to link to.
|
||||
|
||||
GtsamMatlabWrap
|
||||
---------------
|
||||
|
||||
include(GtsamMatlabWrap)
|
||||
|
||||
Defines functions for generating MATLAB wrappers. Also immediately creates several CMake options for configuring the wrapper.
|
||||
|
||||
* `wrap_and_install_library(interfaceHeader linkLibraries extraIncludeDirs extraMexFlags)` Generates wrap code and compiles the wrapper.
|
||||
|
||||
Usage example:
|
||||
|
||||
`wrap_and_install_library("lba.h" "" "" "")`
|
||||
|
||||
Arguments:
|
||||
|
||||
interfaceHeader: The relative or absolute path to the wrapper interface
|
||||
definition file.
|
||||
linkLibraries: Any *additional* libraries to link. Your project library
|
||||
(e.g. `lba`), libraries it depends on, and any necessary
|
||||
MATLAB libraries will be linked automatically. So normally,
|
||||
leave this empty.
|
||||
extraIncludeDirs: Any *additional* include paths required by dependent
|
||||
libraries that have not already been added by
|
||||
include_directories. Again, normally, leave this empty.
|
||||
extraMexFlags: Any *additional* flags to pass to the compiler when building
|
||||
the wrap code. Normally, leave this empty.
|
||||
|
||||
GtsamMakeConfigFile
|
||||
-------------------
|
||||
|
||||
include(GtsamMakeConfigFile)
|
||||
|
||||
Defines a function for generating a config file so your project may be found with the CMake `find_package` function. TODO: Write documentation.
|
||||
|
|
@ -265,11 +265,6 @@ HessianFactor::HessianFactor(const GaussianFactor& gf) :
|
|||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
namespace {
|
||||
DenseIndex _dimFromScatterEntry(const Scatter::value_type& key_slotentry) {
|
||||
return key_slotentry.second.dimension; } }
|
||||
|
||||
/* ************************************************************************* */
|
||||
HessianFactor::HessianFactor(const GaussianFactorGraph& factors,
|
||||
boost::optional<const Scatter&> scatter)
|
||||
|
|
|
|||
|
|
@ -26,15 +26,8 @@ namespace gtsam {
|
|||
/** This class contains the implementation of the Dogleg algorithm. It is used
|
||||
* by DoglegOptimizer and can be used to easily put together custom versions of
|
||||
* Dogleg. Each function is well-documented and unit-tested. The notation
|
||||
* here matches that in "trustregion.pdf" in gtsam_experimental/doc, see this
|
||||
* file for further explanation of the computations performed by this class.
|
||||
*
|
||||
* \tparam VALUES The Values or TupleValues type to hold the values to be
|
||||
* estimated.
|
||||
*
|
||||
* \tparam GAUSSIAN_SOLVER The linear solver to use at each iteration,
|
||||
* currently either GaussianSequentialSolver or GaussianMultifrontalSolver.
|
||||
* The latter is typically faster, especially for non-trivial problems.
|
||||
* here matches that in "trustregion.pdf" in doc, see this file for further
|
||||
* explanation of the computations performed by this class.
|
||||
*/
|
||||
struct GTSAM_EXPORT DoglegOptimizerImpl {
|
||||
|
||||
|
|
|
|||
|
|
@ -559,14 +559,6 @@ public:
|
|||
/** Access the current linearization point */
|
||||
const Values& getLinearizationPoint() const { return theta_; }
|
||||
|
||||
/// Compute the current solution. This is the "standard" function for computing the solution that
|
||||
/// uses:
|
||||
/// - Partial relinearization and backsubstitution using the thresholds provided in ISAM2Params.
|
||||
/// - Dogleg trust-region step, if enabled in ISAM2Params.
|
||||
/// - Equivalent to getLinearizationPoint().retract(getDelta())
|
||||
/// The solution returned is in general not the same as that returned by getLinearizationPoint().
|
||||
Values optimize() const;
|
||||
|
||||
/** Compute an estimate from the incomplete linear delta computed during the last update.
|
||||
* This delta is incomplete because it was not updated below wildfire_threshold. If only
|
||||
* a single variable is needed, it is faster to call calculateEstimate(const KEY&).
|
||||
|
|
|
|||
|
|
@ -15,10 +15,6 @@
|
|||
|
||||
#include <gtsam/slam/BetweenFactor.h>
|
||||
|
||||
//#include <gtsam/nonlinear/NonlinearOptimizer.h>
|
||||
//#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
||||
//#include <gtsam/linear/GaussianSequentialSolver.h>
|
||||
|
||||
|
||||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
|
|
|||
|
|
@ -19,8 +19,6 @@
|
|||
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
||||
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
|
||||
|
||||
//#include <gtsam/linear/GaussianSequentialSolver.h>
|
||||
|
||||
|
||||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
|
|
|||
|
|
@ -19,8 +19,6 @@
|
|||
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
||||
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
|
||||
|
||||
//#include <gtsam/linear/GaussianSequentialSolver.h>
|
||||
|
||||
|
||||
using namespace std;
|
||||
using namespace gtsam;
|
||||
|
|
|
|||
Loading…
Reference in New Issue