43 lines
1.9 KiB
C++
43 lines
1.9 KiB
C++
#include <boost/python.hpp>
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#define NO_IMPORT_ARRAY
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#include <numpy_eigen/NumpyEigenConverter.hpp>
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#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
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#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
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#include <gtsam/nonlinear/Marginals.h>
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using namespace boost::python;
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using namespace gtsam;
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void exportLevenbergMarquardtOptimizer() {
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class_<GaussNewtonParams>("GaussNewtonParams", init<>())
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.def_readwrite("maxIterations", &GaussNewtonParams::maxIterations)
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.def_readwrite("relativeErrorTol", &GaussNewtonParams::relativeErrorTol);
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class_<GaussNewtonOptimizer, boost::noncopyable>(
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"GaussNewtonOptimizer",
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init<const NonlinearFactorGraph&, const Values&, const GaussNewtonParams&>())
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.def("optimize", &GaussNewtonOptimizer::optimize,
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return_value_policy<copy_const_reference>());
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class_<LevenbergMarquardtParams>("LevenbergMarquardtParams", init<>())
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.def("setDiagonalDamping", &LevenbergMarquardtParams::setDiagonalDamping)
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.def("setlambdaFactor", &LevenbergMarquardtParams::setlambdaFactor)
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.def("setlambdaInitial", &LevenbergMarquardtParams::setlambdaInitial)
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.def("setlambdaLowerBound", &LevenbergMarquardtParams::setlambdaLowerBound)
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.def("setlambdaUpperBound", &LevenbergMarquardtParams::setlambdaUpperBound)
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.def("setLogFile", &LevenbergMarquardtParams::setLogFile)
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.def("setUseFixedLambdaFactor", &LevenbergMarquardtParams::setUseFixedLambdaFactor)
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.def("setVerbosityLM", &LevenbergMarquardtParams::setVerbosityLM);
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class_<LevenbergMarquardtOptimizer, boost::noncopyable>(
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"LevenbergMarquardtOptimizer",
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init<const NonlinearFactorGraph&, const Values&, const LevenbergMarquardtParams&>())
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.def("optimize", &LevenbergMarquardtOptimizer::optimize,
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return_value_policy<copy_const_reference>());
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class_<Marginals>("Marginals", init<const NonlinearFactorGraph&, const Values&>())
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.def("marginalCovariance", &Marginals::marginalCovariance);
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}
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