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start wrapping GNC

release/4.3a0
John Lambert 2021-08-11 04:46:32 -04:00 committed by GitHub
parent 41c82687ac
commit d0c31d3eb0
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1 changed files with 17 additions and 0 deletions
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17
gtsam/nonlinear/nonlinear.i
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@ -522,6 +522,14 @@ virtual class DoglegParams : gtsam::NonlinearOptimizerParams {
void setVerbosityDL(string verbosityDL) const; void setVerbosityDL(string verbosityDL) const;
}; };
#include <gtsam/nonlinear/GncParams.h>
template<class BaseOptimizerParameters>
class GncParams {
GncParams(const BaseOptimizerParameters& baseOptimizerParams);
GncParams();
void print(const std::string& str) const;
};
#include <gtsam/nonlinear/NonlinearOptimizer.h> #include <gtsam/nonlinear/NonlinearOptimizer.h>
virtual class NonlinearOptimizer { virtual class NonlinearOptimizer {
gtsam::Values optimize(); gtsam::Values optimize();
@ -552,6 +560,15 @@ virtual class DoglegOptimizer : gtsam::NonlinearOptimizer {
double getDelta() const; double getDelta() const;
}; };
#include <gtsam/nonlinear/GncOptimizer.h>
template<class GncParameters>
class GncOptimizer {
GncOptimizer(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& initialValues,
const gtsam::GncParameters& params);
gtsam::Values optimize();
};
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer { virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer {
LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph,