Added several inference-level classes to the matlab wrapper
Stephen Williams
parent
6f58726a21
commit
700dba5e8e
191
gtsam.h
191
gtsam.h
|
|
@ -496,7 +496,182 @@ class SimpleCamera {
|
|||
//*************************************************************************
|
||||
// inference
|
||||
//*************************************************************************
|
||||
class Permutation {
|
||||
// Standard Constructors and Named Constructors
|
||||
Permutation();
|
||||
Permutation(size_t nVars);
|
||||
static gtsam::Permutation Identity(size_t nVars);
|
||||
// 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);
|
||||
|
||||
// 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;
|
||||
};
|
||||
|
||||
class IndexFactor {
|
||||
// Standard Constructors and Named Constructors
|
||||
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);
|
||||
|
||||
// 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;
|
||||
};
|
||||
|
||||
#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);
|
||||
// FIXME: cannot overload functions
|
||||
//void push_back(const SymbolicBayesNet bn);
|
||||
void push_front(const gtsam::IndexConditional* conditional);
|
||||
// FIXME: cannot overload functions
|
||||
//void push_front(const SymbolicBayesNet bn);
|
||||
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 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;
|
||||
};
|
||||
|
||||
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;
|
||||
};
|
||||
|
||||
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;
|
||||
};
|
||||
|
||||
#include <gtsam/inference/SymbolicFactorGraph.h>
|
||||
class VariableIndex {
|
||||
// Standard Constructors and Named Constructors
|
||||
VariableIndex();
|
||||
// FIXME: Handle templates somehow
|
||||
//template<class FactorGraph> VariableIndex(const FactorGraph& factorGraph, size_t nVariables);
|
||||
//template<class FactorGraph> VariableIndex(const FactorGraph& 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 permute(const gtsam::Permutation& permutation);
|
||||
};
|
||||
|
||||
//*************************************************************************
|
||||
// linear
|
||||
|
|
@ -721,10 +896,23 @@ class Symbol {
|
|||
};
|
||||
|
||||
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);
|
||||
// FIXME: Wrap InvertedMap as well
|
||||
//InvertedMap invert() const;
|
||||
};
|
||||
|
||||
class NonlinearFactorGraph {
|
||||
|
|
@ -738,7 +926,8 @@ class NonlinearFactor {
|
|||
void equals(const gtsam::NonlinearFactor& other, double tol) const;
|
||||
gtsam::KeyVector keys() const;
|
||||
size_t size() const;
|
||||
size_t dim() const;
|
||||
// FIXME: NonlinearFactor does not have a dim() member function
|
||||
//size_t dim() const;
|
||||
};
|
||||
|
||||
class Values {
|
||||
|
|
|
|||
Loading…
Reference in New Issue