Insert Vectors in Values for Matlab?

[krunal chande]

Doesn't work currently for me. Getting the following error when inserting a matlab vector in Values

Arguments do not match any overload of function gtsam.Values.insert

And I am not sure what needs to be added in gtsam.h. You can try running IMUKittiExampleGPS.m for reference. (Note: imuBias::ConstantBias also has to be added in gtsam.h, but I did that and it works)

[Frank Dellaert]

Check gsam.h whether it has a Vector version, if not, add it. Also add the update and at methods in that case. And add Matrix, too. Please note that in guts.h Matrix and vector should not be const &.

[Frank Dellaert]

Did not see any progress on this.

[krunal chande]

I tried it and could only get Vectors to work with insert and update methods. Could not add them to at or PriorFactor. Right now I am facing issue #172.

[Frank Dellaert]

Create a branch and a pull request with Vector and Matrix added to Values in gtsam.h, let me know in comments what goes wrong.

[Frank Dellaert]

@KrunalChande ,

The argument list is parsed by the grammar rule templateArgValues_p in Module.cpp. It parses one or more arguments with the rule templateArgValue_p.

I think it is just a matter of replacing className_p with (className_p | eigenType_p) in that rule.

Try it?

See also Boost Spirit Quickstart for context.

[krunal chande]

Should I mark this as closed?

[Frank Dellaert]

It will close automatically when I merge (running make check now)

[Frank Dellaert]

Fixed in Pull request #50