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Fix Windows CI, add Python wrapper for EliminateQR #1757

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merged 4 commits into from
May 30, 2024
Merged

Fix Windows CI, add Python wrapper for EliminateQR #1757

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760b799
Add EliminateQR to Python
ProfFan May 29, 2024
cb30fdd
Try fixing Windows build
ProfFan May 29, 2024
02784de
Try fixing Windows build
ProfFan May 29, 2024
6f408fe
Remove local changes
ProfFan May 29, 2024
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2 changes: 1 addition & 1 deletion .github/workflows/build-python.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,7 @@ jobs:
uses: ilammy/msvc-dev-cmd@v1
with:
arch: x${{matrix.platform}}
toolset: 14.38
toolset: 14.2

- name: cl version (Windows)
if: runner.os == 'Windows'
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2 changes: 1 addition & 1 deletion .github/workflows/build-windows.yml
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Expand Up @@ -50,7 +50,7 @@ jobs:
uses: ilammy/msvc-dev-cmd@v1
with:
arch: x${{ matrix.platform }}
toolset: 14.38
toolset: 14.2

- name: cl version
shell: cmd
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21 changes: 21 additions & 0 deletions gtsam/linear/linear.i
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Expand Up @@ -128,6 +128,7 @@ virtual class Huber: gtsam::noiseModel::mEstimator::Base {

virtual class Cauchy: gtsam::noiseModel::mEstimator::Base {
Cauchy(double k);
Cauchy(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::Cauchy* Create(double k);

// enabling serialization functionality
Expand All @@ -139,6 +140,7 @@ virtual class Cauchy: gtsam::noiseModel::mEstimator::Base {

virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
Tukey(double k);
Tukey(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::Tukey* Create(double k);

// enabling serialization functionality
Expand All @@ -150,6 +152,7 @@ virtual class Tukey: gtsam::noiseModel::mEstimator::Base {

virtual class Welsch: gtsam::noiseModel::mEstimator::Base {
Welsch(double k);
Welsch(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::Welsch* Create(double k);

// enabling serialization functionality
Expand All @@ -161,6 +164,7 @@ virtual class Welsch: gtsam::noiseModel::mEstimator::Base {

virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base {
GemanMcClure(double c);
GemanMcClure(double c, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::GemanMcClure* Create(double c);

// enabling serialization functionality
Expand All @@ -172,6 +176,7 @@ virtual class GemanMcClure: gtsam::noiseModel::mEstimator::Base {

virtual class DCS: gtsam::noiseModel::mEstimator::Base {
DCS(double c);
DCS(double c, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::DCS* Create(double c);

// enabling serialization functionality
Expand All @@ -183,6 +188,7 @@ virtual class DCS: gtsam::noiseModel::mEstimator::Base {

virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base {
L2WithDeadZone(double k);
L2WithDeadZone(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::L2WithDeadZone* Create(double k);

// enabling serialization functionality
Expand All @@ -193,6 +199,7 @@ virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base {
};

virtual class AsymmetricTukey: gtsam::noiseModel::mEstimator::Base {
AsymmetricTukey(double k);
AsymmetricTukey(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::AsymmetricTukey* Create(double k);

Expand All @@ -203,6 +210,18 @@ virtual class AsymmetricTukey: gtsam::noiseModel::mEstimator::Base {
double loss(double error) const;
};

virtual class AsymmetricCauchy: gtsam::noiseModel::mEstimator::Base {
AsymmetricCauchy(double k);
AsymmetricCauchy(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
static gtsam::noiseModel::mEstimator::AsymmetricCauchy* Create(double k);

// enabling serialization functionality
void serializable() const;

double weight(double error) const;
double loss(double error) const;
};

virtual class Custom: gtsam::noiseModel::mEstimator::Base {
Custom(gtsam::noiseModel::mEstimator::CustomWeightFunction weight,
gtsam::noiseModel::mEstimator::CustomLossFunction loss,
Expand Down Expand Up @@ -356,6 +375,8 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
void serialize() const;
};

pair<gtsam::GaussianConditional, gtsam::JacobianFactor*> EliminateQR(const gtsam::GaussianFactorGraph& factors, const gtsam::Ordering& keys);

#include <gtsam/linear/HessianFactor.h>
virtual class HessianFactor : gtsam::GaussianFactor {
//Constructors
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