ISAM2UpdateParams.h

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/* ----------------------------------------------------------------------------
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 * See LICENSE for the license information
 * -------------------------------------------------------------------------- */

// \callgraph

#pragma once

#include <gtsam/base/FastList.h>
#include <gtsam/dllexport.h>              // GTSAM_EXPORT
#include <gtsam/inference/Key.h>          // Key, KeySet
#include <gtsam/nonlinear/ISAM2Result.h>  //FactorIndices
#include <boost/optional.hpp>

namespace gtsam {

struct ISAM2UpdateParams {
  ISAM2UpdateParams() = default;

  FactorIndices removeFactorIndices;

  boost::optional<FastMap<Key, int>> constrainedKeys{boost::none};

  boost::optional<FastList<Key>> noRelinKeys{boost::none};

  boost::optional<FastList<Key>> extraReelimKeys{boost::none};

  bool force_relinearize{false};

  boost::optional<FastMap<FactorIndex, KeySet>> newAffectedKeys{boost::none};

  bool forceFullSolve{false};
};

}  // namespace gtsam