gtsam::FixedLagSmoother Class Reference

#include <FixedLagSmoother.h>

Inheritance diagram for gtsam::FixedLagSmoother:

Classes
struct	Result

Public Types
typedef std::map< Key, double >	KeyTimestampMap
	Typedef for a Key-Timestamp map/database. More...
typedef boost::shared_ptr< FixedLagSmoother >	shared_ptr
	Typedef for a shared pointer to an Incremental Fixed-Lag Smoother. More...
typedef std::multimap< double, Key >	TimestampKeyMap

Public Member Functions
virtual Values	calculateEstimate () const =0
virtual bool	equals (const FixedLagSmoother &rhs, double tol=1e-9) const
	FixedLagSmoother (double smootherLag=0.0)
virtual void	print (const std::string &s="FixedLagSmoother:\n", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
double	smootherLag () const
double &	smootherLag ()
const KeyTimestampMap &	timestamps () const
virtual Result	update (const NonlinearFactorGraph &newFactors=NonlinearFactorGraph(), const Values &newTheta=Values(), const KeyTimestampMap &timestamps=KeyTimestampMap(), const FactorIndices &factorsToRemove=FactorIndices())=0
virtual	~FixedLagSmoother ()

Protected Member Functions
void	eraseKeyTimestampMap (const KeyVector &keys)
KeyVector	findKeysAfter (double timestamp) const
KeyVector	findKeysBefore (double timestamp) const
double	getCurrentTimestamp () const
void	updateKeyTimestampMap (const KeyTimestampMap &newTimestamps)

Protected Attributes
KeyTimestampMap	keyTimestampMap_
double	smootherLag_
TimestampKeyMap	timestampKeyMap_

Detailed Description

Definition at line 33 of file FixedLagSmoother.h.

Member Typedef Documentation

typedef std::map<Key, double> gtsam::FixedLagSmoother::KeyTimestampMap

Typedef for a Key-Timestamp map/database.

Definition at line 41 of file FixedLagSmoother.h.

typedef boost::shared_ptr<FixedLagSmoother> gtsam::FixedLagSmoother::shared_ptr

Typedef for a shared pointer to an Incremental Fixed-Lag Smoother.

Definition at line 38 of file FixedLagSmoother.h.

typedef std::multimap<double, Key> gtsam::FixedLagSmoother::TimestampKeyMap

Definition at line 42 of file FixedLagSmoother.h.

Constructor & Destructor Documentation

gtsam::FixedLagSmoother::FixedLagSmoother ( double  smootherLag = 0.0 )

inline

default constructor

Definition at line 66 of file FixedLagSmoother.h.

virtual gtsam::FixedLagSmoother::~FixedLagSmoother ( )

inlinevirtual

destructor

Definition at line 69 of file FixedLagSmoother.h.

Member Function Documentation

virtual Values gtsam::FixedLagSmoother::calculateEstimate ( ) const

pure virtual

Compute an estimate from the incomplete linear delta computed during the last update. This delta is incomplete because it was not updated below wildfire_threshold. If only a single variable is needed, it is faster to call calculateEstimate(const KEY&).

Implemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.

bool gtsam::FixedLagSmoother::equals ( const FixedLagSmoother &  rhs, double  tol = 1e-9  ) const

virtual

Check if two IncrementalFixedLagSmoother Objects are equal

Reimplemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.

Definition at line 40 of file FixedLagSmoother.cpp.

void gtsam::FixedLagSmoother::eraseKeyTimestampMap ( const KeyVector &  keys )

protected

Erase keys from the Key-Timestamps database

Definition at line 76 of file FixedLagSmoother.cpp.

KeyVector gtsam::FixedLagSmoother::findKeysAfter ( double  timestamp ) const

protected

Find all of the keys associated with timestamps before the provided time

Definition at line 114 of file FixedLagSmoother.cpp.

KeyVector gtsam::FixedLagSmoother::findKeysBefore ( double  timestamp ) const

protected

Find all of the keys associated with timestamps before the provided time

Definition at line 104 of file FixedLagSmoother.cpp.

double gtsam::FixedLagSmoother::getCurrentTimestamp ( ) const

protected

Find the most recent timestamp of the system

Definition at line 95 of file FixedLagSmoother.cpp.

void gtsam::FixedLagSmoother::print ( const std::string &  s = "FixedLagSmoother:\n", const KeyFormatter &  keyFormatter = DefaultKeyFormatter  ) const

virtual

Print the factor for debugging and testing (implementing Testable)

Reimplemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.

Definition at line 34 of file FixedLagSmoother.cpp.

double gtsam::FixedLagSmoother::smootherLag ( ) const

inline

read the current smoother lag

Definition at line 80 of file FixedLagSmoother.h.

double& gtsam::FixedLagSmoother::smootherLag ( )

inline

write to the current smoother lag

Definition at line 85 of file FixedLagSmoother.h.

const KeyTimestampMap& gtsam::FixedLagSmoother::timestamps ( ) const

inline

Access the current set of timestamps associated with each variable

Definition at line 90 of file FixedLagSmoother.h.

virtual Result gtsam::FixedLagSmoother::update ( const NonlinearFactorGraph &  newFactors = NonlinearFactorGraph(), const Values &  newTheta = Values(), const KeyTimestampMap &  timestamps = KeyTimestampMap(), const FactorIndices &  factorsToRemove = FactorIndices()  )

pure virtual

Add new factors, updating the solution and relinearizing as needed.

Implemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.

void gtsam::FixedLagSmoother::updateKeyTimestampMap ( const KeyTimestampMap &  newTimestamps )

protected

Update the Timestamps associated with the keys

Definition at line 46 of file FixedLagSmoother.cpp.

Member Data Documentation

KeyTimestampMap gtsam::FixedLagSmoother::keyTimestampMap_

protected

Definition at line 114 of file FixedLagSmoother.h.

double gtsam::FixedLagSmoother::smootherLag_

protected

The length of the smoother lag. Any variable older than this amount will be marginalized out.

Definition at line 110 of file FixedLagSmoother.h.

TimestampKeyMap gtsam::FixedLagSmoother::timestampKeyMap_

protected

The current timestamp associated with each tracked key

Definition at line 113 of file FixedLagSmoother.h.

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The documentation for this class was generated from the following files:

• FixedLagSmoother.h
• FixedLagSmoother.cpp