Merge pull request #873 from borglab/feature/wrap-jacobian-factor

Jacobian Factor Wrapping
borglab · Sep 10, 2021 · 82d7cb5 · 82d7cb5
2 parents f9edcd2 + 7076244
commit 82d7cb5
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Showing 4 changed files with 36 additions and 22 deletions.
diff --git a/gtsam/inference/Key.h b/gtsam/inference/Key.h
@@ -32,7 +32,7 @@
 namespace gtsam {
 
 /// Typedef for a function to format a key, i.e. to convert it to a string
-typedef std::function<std::string(Key)> KeyFormatter;
+using KeyFormatter = std::function<std::string(Key)>;
 
 // Helper function for DefaultKeyFormatter
 GTSAM_EXPORT std::string _defaultKeyFormatter(Key key);
@@ -83,28 +83,32 @@ class key_formatter {
 };
 
 /// Define collection type once and for all - also used in wrappers
-typedef FastVector<Key> KeyVector;
+using KeyVector = FastVector<Key>;
 
 // TODO(frank): Nothing fast about these :-(
-typedef FastList<Key> KeyList;
-typedef FastSet<Key> KeySet;
-typedef FastMap<Key, int> KeyGroupMap;
+using KeyList = FastList<Key>;
+using KeySet = FastSet<Key>;
+using KeyGroupMap = FastMap<Key, int>;
 
 /// Utility function to print one key with optional prefix
-GTSAM_EXPORT void PrintKey(Key key, const std::string& s = "",
-    const KeyFormatter& keyFormatter = DefaultKeyFormatter);
+GTSAM_EXPORT void PrintKey(
+    Key key, const std::string &s = "",
+    const KeyFormatter &keyFormatter = DefaultKeyFormatter);
 
 /// Utility function to print sets of keys with optional prefix
-GTSAM_EXPORT void PrintKeyList(const KeyList& keys, const std::string& s = "",
-    const KeyFormatter& keyFormatter = DefaultKeyFormatter);
+GTSAM_EXPORT void PrintKeyList(
+    const KeyList &keys, const std::string &s = "",
+    const KeyFormatter &keyFormatter = DefaultKeyFormatter);
 
 /// Utility function to print sets of keys with optional prefix
-GTSAM_EXPORT void PrintKeyVector(const KeyVector& keys, const std::string& s =
-    "", const KeyFormatter& keyFormatter = DefaultKeyFormatter);
+GTSAM_EXPORT void PrintKeyVector(
+    const KeyVector &keys, const std::string &s = "",
+    const KeyFormatter &keyFormatter = DefaultKeyFormatter);
 
 /// Utility function to print sets of keys with optional prefix
-GTSAM_EXPORT void PrintKeySet(const KeySet& keys, const std::string& s = "",
-    const KeyFormatter& keyFormatter = DefaultKeyFormatter);
+GTSAM_EXPORT void PrintKeySet(
+    const KeySet &keys, const std::string &s = "",
+    const KeyFormatter &keyFormatter = DefaultKeyFormatter);
 
 // Define Key to be Testable by specializing gtsam::traits
 template<typename T> struct traits;

diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
@@ -289,6 +289,13 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
   JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
       Vector b, const gtsam::noiseModel::Diagonal* model);
   JacobianFactor(const gtsam::GaussianFactorGraph& graph);
+  JacobianFactor(const gtsam::GaussianFactorGraph& graph,
+                 const gtsam::VariableSlots& p_variableSlots);
+  JacobianFactor(const gtsam::GaussianFactorGraph& graph,
+                 const gtsam::Ordering& ordering);
+  JacobianFactor(const gtsam::GaussianFactorGraph& graph,
+                 const gtsam::Ordering& ordering,
+                 const gtsam::VariableSlots& p_variableSlots);
 
   //Testable
   void print(string s = "", const gtsam::KeyFormatter& keyFormatter =

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
@@ -75,12 +75,15 @@ size_t Z(size_t j);
 }  // namespace symbol_shorthand
 
 // Default keyformatter
-void PrintKeyList(const gtsam::KeyList& keys);
-void PrintKeyList(const gtsam::KeyList& keys, string s);
-void PrintKeyVector(const gtsam::KeyVector& keys);
-void PrintKeyVector(const gtsam::KeyVector& keys, string s);
-void PrintKeySet(const gtsam::KeySet& keys);
-void PrintKeySet(const gtsam::KeySet& keys, string s);
+void PrintKeyList(
+    const gtsam::KeyList& keys, const string& s = "",
+    const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
+void PrintKeyVector(
+    const gtsam::KeyVector& keys, const string& s = "",
+    const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
+void PrintKeySet(
+    const gtsam::KeySet& keys, const string& s = "",
+    const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
 
 #include <gtsam/inference/LabeledSymbol.h>
 class LabeledSymbol {

diff --git a/python/gtsam/gtsam.tpl b/python/gtsam/gtsam.tpl
@@ -1,8 +1,8 @@
 /**
- * @file  gtsam.cpp
+ * @file    {module_name}.cpp
  * @brief   The auto-generated wrapper C++ source code.
- * @author  Duy-Nguyen Ta, Fan Jiang, Matthew Sklar
- * @date  Aug. 18, 2020
+ * @author  Duy-Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal
+ * @date    Aug. 18, 2020
  *
  * ** THIS FILE IS AUTO-GENERATED, DO NOT MODIFY! **
  */