Merge pull request #1757 from borglab/fan/add_eliminate_qr

Author: varunagrawal

.github/workflows/build-python.yml

@@ -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'

.github/workflows/build-windows.yml

@@ -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

gtsam/linear/linear.i

@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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);
 
@@ -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,
@@ -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