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Wrap GNC #843

Merged
merged 13 commits into from
Aug 13, 2021
Merged

Wrap GNC #843

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d0c31d3
start wrapping GNC
johnwlambert Aug 11, 2021
6bd6651
Remove std prefix in .i fn signatures
johnwlambert Aug 11, 2021
d0f25ec
Remove ‘class’ from template specifications
johnwlambert Aug 11, 2021
6518157
try imports
johnwlambert Aug 12, 2021
6364e34
provide template list of typedef
johnwlambert Aug 12, 2021
c9bcb14
test GNC along with other non-linear optimizers in python unit tests
johnwlambert Aug 12, 2021
9b05390
remove Dogleg from GNC-supported base-optimizers, and use nested temp…
johnwlambert Aug 12, 2021
e946512
add virtual to all classes in the .i file
johnwlambert Aug 12, 2021
7bf640e
add GTSAM_EXPORT to GncParams.h
johnwlambert Aug 12, 2021
6e788fa
add GTSAM_EXPORT to GncOptimizer.h
johnwlambert Aug 12, 2021
30d028e
use custom typedefs for GNC + GaussNewton and GNC + LM
johnwlambert Aug 12, 2021
db9b980
import GncLMParams, GncLMOptimizer to prevent pybind's automatic long…
johnwlambert Aug 12, 2021
b7eccda
add missing gtsam prefix
johnwlambert Aug 12, 2021
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17 changes: 17 additions & 0 deletions gtsam/nonlinear/nonlinear.i
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Original file line number Diff line number Diff line change
Expand Up @@ -522,6 +522,14 @@ virtual class DoglegParams : gtsam::NonlinearOptimizerParams {
void setVerbosityDL(string verbosityDL) const;
};

#include <gtsam/nonlinear/GncParams.h>
template<class BaseOptimizerParameters>
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You shouldn't be specifying templates as template<class T>, it should be just template<T>.
Same deal for GncOptimizer.

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Got it, thank you Varun

class GncParams {
GncParams(const BaseOptimizerParameters& baseOptimizerParams);
GncParams();
void print(const string& str) const;
};

#include <gtsam/nonlinear/NonlinearOptimizer.h>
virtual class NonlinearOptimizer {
gtsam::Values optimize();
Expand Down Expand Up @@ -551,6 +559,15 @@ virtual class DoglegOptimizer : gtsam::NonlinearOptimizer {
const gtsam::DoglegParams& params);
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>
virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer {
Expand Down