use direct memeber access for ISAM2Params

borglab · Jan 22, 2022 · bcbd26c · bcbd26c
1 parent 0814efa
commit bcbd26c
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Showing 2 changed files with 7 additions and 48 deletions.
diff --git a/gtsam/nonlinear/ISAM2Params.h b/gtsam/nonlinear/ISAM2Params.h
@@ -300,57 +300,24 @@ struct GTSAM_EXPORT ISAM2Params {
   RelinearizationThreshold getRelinearizeThreshold() const {
     return relinearizeThreshold;
   }
-  int getRelinearizeSkip() const { return relinearizeSkip; }
-  bool isEnableRelinearization() const { return enableRelinearization; }
-  bool isEvaluateNonlinearError() const { return evaluateNonlinearError; }
   std::string getFactorization() const {
     return factorizationTranslator(factorization);
   }
   bool isCacheLinearizedFactors() const { return cacheLinearizedFactors; }
   KeyFormatter getKeyFormatter() const { return keyFormatter; }
-  bool isEnableDetailedResults() const { return enableDetailedResults; }
-  bool isEnablePartialRelinearizationCheck() const {
-    return enablePartialRelinearizationCheck;
-  }
-
-  bool isFindUnusedFactorSlots() const {
-    return findUnusedFactorSlots;
-  }
 
   void setOptimizationParams(OptimizationParams optimizationParams) {
     this->optimizationParams = optimizationParams;
   }
   void setRelinearizeThreshold(RelinearizationThreshold relinearizeThreshold) {
     this->relinearizeThreshold = relinearizeThreshold;
   }
-  void setRelinearizeSkip(int relinearizeSkip) {
-    this->relinearizeSkip = relinearizeSkip;
-  }
-  void setEnableRelinearization(bool enableRelinearization) {
-    this->enableRelinearization = enableRelinearization;
-  }
-  void setEvaluateNonlinearError(bool evaluateNonlinearError) {
-    this->evaluateNonlinearError = evaluateNonlinearError;
-  }
   void setFactorization(const std::string& factorization) {
     this->factorization = factorizationTranslator(factorization);
   }
-  void setCacheLinearizedFactors(bool cacheLinearizedFactors) {
-    this->cacheLinearizedFactors = cacheLinearizedFactors;
-  }
   void setKeyFormatter(KeyFormatter keyFormatter) {
     this->keyFormatter = keyFormatter;
   }
-  void setEnableDetailedResults(bool enableDetailedResults) {
-    this->enableDetailedResults = enableDetailedResults;
-  }
-  void setEnablePartialRelinearizationCheck(
-      bool enablePartialRelinearizationCheck) {
-    this->enablePartialRelinearizationCheck = enablePartialRelinearizationCheck;
-  }
-  void setFindUnusedFactorSlots(bool findUnusedFactorSlots) {
-    this->findUnusedFactorSlots = findUnusedFactorSlots;
-  }
 
   GaussianFactorGraph::Eliminate getEliminationFunction() const {
     return factorization == CHOLESKY

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
@@ -681,24 +681,16 @@ class ISAM2Params {
   void setOptimizationParams(const gtsam::ISAM2DoglegParams& dogleg_params);
   void setRelinearizeThreshold(double threshold);
   void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& threshold_map);
-  int getRelinearizeSkip() const;
-  void setRelinearizeSkip(int relinearizeSkip);
-  bool isEnableRelinearization() const;
-  void setEnableRelinearization(bool enableRelinearization);
-  bool isEvaluateNonlinearError() const;
-  void setEvaluateNonlinearError(bool evaluateNonlinearError);
   string getFactorization() const;
   void setFactorization(string factorization);
-  bool isCacheLinearizedFactors() const;
-  void setCacheLinearizedFactors(bool cacheLinearizedFactors);
-  bool isEnableDetailedResults() const;
-  void setEnableDetailedResults(bool enableDetailedResults);
-  bool isEnablePartialRelinearizationCheck() const;
-  void setEnablePartialRelinearizationCheck(
-      bool enablePartialRelinearizationCheck);
-  bool isFindUnusedFactorSlots() const;
-  void setFindUnusedFactorSlots(bool findUnusedFactorSlots);
 
+  int relinearizeSkip;
+  bool enableRelinearization;
+  bool evaluateNonlinearError;
+  bool cacheLinearizedFactors;
+  bool enableDetailedResults;
+  bool enablePartialRelinearizationCheck;
+  bool findUnusedFactorSlots;
 };
 
 class ISAM2Clique {