adapt examples to new direct member access

borglab · Jan 29, 2022 · 65d72ab · 65d72ab
1 parent 11b2135
commit 65d72ab
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Showing 12 changed files with 12 additions and 12 deletions.
diff --git a/matlab/+gtsam/VisualISAMInitialize.m b/matlab/+gtsam/VisualISAMInitialize.m
@@ -7,7 +7,7 @@
 %% Initialize iSAM
 params = gtsam.ISAM2Params;
 if options.alwaysRelinearize
-    params.setRelinearizeSkip(1);
+    params.relinearizeSkip = 1;
 end
 isam = ISAM2(params);
 

diff --git a/matlab/gtsam_examples/IMUKittiExampleGPS.m b/matlab/gtsam_examples/IMUKittiExampleGPS.m
@@ -52,7 +52,7 @@
 %% Solver object
 isamParams = ISAM2Params;
 isamParams.setFactorization('CHOLESKY');
-isamParams.setRelinearizeSkip(10);
+isamParams.relinearizeSkip = 10;
 isam = gtsam.ISAM2(isamParams);
 newFactors = NonlinearFactorGraph;
 newValues = Values;

diff --git a/matlab/unstable_examples/+imuSimulator/IMUComparison.m b/matlab/unstable_examples/+imuSimulator/IMUComparison.m
@@ -46,7 +46,7 @@
 
 %% Solver object
 isamParams = ISAM2Params;
-isamParams.setRelinearizeSkip(1);
+isamParams.relinearizeSkip = 1;
 isam = gtsam.ISAM2(isamParams);
 
 initialValues = Values;

diff --git a/matlab/unstable_examples/+imuSimulator/IMUComparison_with_cov.m b/matlab/unstable_examples/+imuSimulator/IMUComparison_with_cov.m
@@ -34,7 +34,7 @@
 
 %% Solver object
 isamParams = ISAM2Params;
-isamParams.setRelinearizeSkip(1);
+isamParams.relinearizeSkip = 1;
 isam = gtsam.ISAM2(isamParams);
 
 sigma_init_x = 1.0;

diff --git a/matlab/unstable_examples/+imuSimulator/coriolisExample.m b/matlab/unstable_examples/+imuSimulator/coriolisExample.m
@@ -119,7 +119,7 @@
 % Solver object
 isamParams = ISAM2Params;
 isamParams.setFactorization('CHOLESKY');
-isamParams.setRelinearizeSkip(10);
+isamParams.relinearizeSkip = 10;
 isam = gtsam.ISAM2(isamParams);
 newFactors = NonlinearFactorGraph;
 newValues = Values;

diff --git a/matlab/unstable_examples/IMUKittiExampleAdvanced.m b/matlab/unstable_examples/IMUKittiExampleAdvanced.m
@@ -82,7 +82,7 @@
 %% Solver object
 isamParams = ISAM2Params;
 isamParams.setFactorization('QR');
-isamParams.setRelinearizeSkip(1);
+isamParams.relinearizeSkip = 1;
 isam = gtsam.ISAM2(isamParams);
 newFactors = NonlinearFactorGraph;
 newValues = Values;

diff --git a/matlab/unstable_examples/IMUKittiExampleVO.m b/matlab/unstable_examples/IMUKittiExampleVO.m
@@ -58,7 +58,7 @@
 %% Solver object
 isamParams = ISAM2Params;
 isamParams.setFactorization('CHOLESKY');
-isamParams.setRelinearizeSkip(10);
+isamParams.relinearizeSkip = 10;
 isam = gtsam.ISAM2(isamParams);
 newFactors = NonlinearFactorGraph;
 newValues = Values;

diff --git a/python/gtsam/examples/IMUKittiExampleGPS.py b/python/gtsam/examples/IMUKittiExampleGPS.py
@@ -203,7 +203,7 @@ def optimize(gps_measurements: List[GpsMeasurement],
     # Set ISAM2 parameters and create ISAM2 solver object
     isam_params = gtsam.ISAM2Params()
     isam_params.setFactorization("CHOLESKY")
-    isam_params.setRelinearizeSkip(10)
+    isam_params.relinearizeSkip = 10
 
     isam = gtsam.ISAM2(isam_params)
 

diff --git a/python/gtsam/examples/Pose2ISAM2Example.py b/python/gtsam/examples/Pose2ISAM2Example.py
@@ -111,7 +111,7 @@ def Pose2SLAM_ISAM2_example():
     # update calls are required to perform the relinearization.
     parameters = gtsam.ISAM2Params()
     parameters.setRelinearizeThreshold(0.1)
-    parameters.setRelinearizeSkip(1)
+    parameters.relinearizeSkip = 1
     isam = gtsam.ISAM2(parameters)
 
     # Create the ground truth odometry measurements of the robot during the trajectory.

diff --git a/python/gtsam/examples/Pose3ISAM2Example.py b/python/gtsam/examples/Pose3ISAM2Example.py
@@ -140,7 +140,7 @@ def Pose3_ISAM2_example():
     # update calls are required to perform the relinearization.
     parameters = gtsam.ISAM2Params()
     parameters.setRelinearizeThreshold(0.1)
-    parameters.setRelinearizeSkip(1)
+    parameters.relinearizeSkip = 1
     isam = gtsam.ISAM2(parameters)
 
     # Create the ground truth poses of the robot trajectory.

diff --git a/python/gtsam/examples/VisualISAM2Example.py b/python/gtsam/examples/VisualISAM2Example.py
@@ -81,7 +81,7 @@ def visual_ISAM2_example():
     # will approach the batch result.
     parameters = gtsam.ISAM2Params()
     parameters.setRelinearizeThreshold(0.01)
-    parameters.setRelinearizeSkip(1)
+    parameters.relinearizeSkip = 1
     isam = gtsam.ISAM2(parameters)
 
     # Create a Factor Graph and Values to hold the new data

diff --git a/python/gtsam/utils/visual_isam.py b/python/gtsam/utils/visual_isam.py
@@ -17,7 +17,7 @@ def initialize(data, truth, options):
     # Initialize iSAM
     params = gtsam.ISAM2Params()
     if options.alwaysRelinearize:
-        params.setRelinearizeSkip(1)
+        params.relinearizeSkip = 1
     isam = gtsam.ISAM2(params=params)
 
     # Add constraints/priors