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wrap noiseModel classes. Inheritance works nicely in Matlab. Probably we don't need shared noise model classes anymore.

release/4.3a0
Duy-Nguyen Ta 2012-06-19 06:08:55 +00:00
parent f9a8d69a75
commit 584c5c11c4
1 changed files with 48 additions and 13 deletions
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61
gtsam.h
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@ -16,6 +16,8 @@
* Limitations on methods * Limitations on methods
* - Parsing does not support overloading * - Parsing does not support overloading
* - There can only be one method (static or otherwise) with a given name * - There can only be one method (static or otherwise) with a given name
* Methods must start with a lowercase letter
* Static methods must start with a letter (upper or lowercase) and use the "static" keyword
* Arguments to functions any of * Arguments to functions any of
* - Eigen types: Matrix, Vector * - Eigen types: Matrix, Vector
* - Eigen types and classes as an optionally const reference * - Eigen types and classes as an optionally const reference
@ -35,8 +37,6 @@
* Using namespace * Using namespace
* - To use a namespace (e.g., generate a "using namespace x" line in cpp files), add "using namespace x;" * - To use a namespace (e.g., generate a "using namespace x" line in cpp files), add "using namespace x;"
* - This declaration applies to all classes *after* the declaration, regardless of brackets * - This declaration applies to all classes *after* the declaration, regardless of brackets
* Methods must start with a lowercase letter
* Static methods must start with a letter (upper or lowercase) and use the "static" keyword
* Includes in C++ wrappers * Includes in C++ wrappers
* - By default, the include will be <[classname].h> * - By default, the include will be <[classname].h>
* - All namespaces must have angle brackets: <path> * - All namespaces must have angle brackets: <path>
@ -503,6 +503,52 @@ class SimpleCamera {
// linear // linear
//************************************************************************* //*************************************************************************
#include <gtsam/linear/NoiseModel.h>
namespace noiseModel {
class Gaussian {
static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R);
static gtsam::noiseModel::Gaussian* Covariance(Matrix R);
// Matrix R() const; // FIXME: cannot parse!!!
void print(string s) const;
};
class Diagonal {
static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas);
static gtsam::noiseModel::Diagonal* Variances(Vector variances);
static gtsam::noiseModel::Diagonal* Precisions(Vector precisions);
Vector sample() const;
// Matrix R() const; // FIXME: cannot parse!!!
void print(string s) const;
};
class Isotropic {
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);
Vector sample() const;
void print(string s) const;
};
class Unit {
static gtsam::noiseModel::Unit* Create(size_t dim);
void print(string s) const;
};
}///\namespace noiseModel
// TODO: smart flag not supported. Default argument is not wrapped properly yet
class SharedNoiseModel {
static gtsam::SharedNoiseModel SqrtInformation(Matrix R);
static gtsam::SharedNoiseModel Covariance(Matrix covariance);
static gtsam::SharedNoiseModel Sigmas(Vector sigmas);
static gtsam::SharedNoiseModel Variances(Vector variances);
static gtsam::SharedNoiseModel Precisions(Vector precisions);
static gtsam::SharedNoiseModel Sigma(size_t dim, double sigma);
static gtsam::SharedNoiseModel Variance(size_t dim, double variance);
static gtsam::SharedNoiseModel Precision(size_t dim, double precision);
static gtsam::SharedNoiseModel Unit(size_t dim);
void print(string s) const;
};
class SharedGaussian { class SharedGaussian {
SharedGaussian(Matrix covariance); SharedGaussian(Matrix covariance);
void print(string s) const; void print(string s) const;
@ -514,17 +560,6 @@ class SharedDiagonal {
Vector sample() const; Vector sample() const;
}; };
class SharedNoiseModel {
static gtsam::SharedNoiseModel Sigmas(Vector sigmas);
static gtsam::SharedNoiseModel Sigma(size_t dim, double sigma);
static gtsam::SharedNoiseModel Precisions(Vector precisions);
static gtsam::SharedNoiseModel Precision(size_t dim, double precision);
static gtsam::SharedNoiseModel Unit(size_t dim);
static gtsam::SharedNoiseModel SqrtInformation(Matrix R);
static gtsam::SharedNoiseModel Covariance(Matrix covariance);
void print(string s) const;
};
class VectorValues { class VectorValues {
VectorValues(); VectorValues();
VectorValues(size_t nVars, size_t varDim); VectorValues(size_t nVars, size_t varDim);