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Added missing MATLAB wrapping of GaussianFactorGraph elimination functions

release/4.3a0
Richard Roberts 2013-09-18 17:23:33 +00:00
parent a4bd2adbc7
commit f5bb8c6507
1 changed files with 21 additions and 0 deletions
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gtsam.h
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@ -1273,6 +1273,27 @@ class GaussianFactorGraph {
gtsam::VectorValues gradient(const gtsam::VectorValues& x0) const;
gtsam::VectorValues gradientAtZero() const;
// Elimination and marginals
gtsam::GaussianBayesNet* eliminateSequential();
gtsam::GaussianBayesNet* eliminateSequential(const gtsam::Ordering& ordering);
gtsam::GaussianBayesTree* eliminateMultifrontal();
gtsam::GaussianBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering);
pair<gtsam::GaussianBayesNet*, gtsam::GaussianFactorGraph*> eliminatePartialSequential(
const gtsam::Ordering& ordering);
pair<gtsam::GaussianBayesNet*, gtsam::GaussianFactorGraph*> eliminatePartialSequential(
const gtsam::KeyVector& keys);
pair<gtsam::GaussianBayesTree*, gtsam::GaussianFactorGraph*> eliminatePartialMultifrontal(
const gtsam::Ordering& ordering);
pair<gtsam::GaussianBayesTree*, gtsam::GaussianFactorGraph*> eliminatePartialMultifrontal(
const gtsam::KeyVector& keys);
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables);
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables);
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables,
const gtsam::Ordering& marginalizedVariableOrdering);
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables,
const gtsam::Ordering& marginalizedVariableOrdering);
gtsam::GaussianFactorGraph* marginal(const gtsam::KeyVector& variables);
// Conversion to matrices
Matrix sparseJacobian_() const;
Matrix augmentedJacobian() const;