#include <NonlinearISAM.h>

Public Member Functions
Standard Constructors
	NonlinearISAM (int reorderInterval=1, const GaussianFactorGraph::Eliminate &eliminationFunction=GaussianFactorGraph::EliminationTraitsType::DefaultEliminate)

Standard Interface
Values	estimate () const

Matrix	marginalCovariance (Key key) const

const GaussianISAM &	bayesTree () const

const Values &	getLinearizationPoint () const

const NonlinearFactorGraph &	getFactorsUnsafe () const

int	reorderInterval () const
	TODO: comment. More...

int	reorderCounter () const
	TODO: comment. More...

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

void	printStats () const

void	saveGraph (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const

Advanced Interface
void	update (const NonlinearFactorGraph &newFactors, const Values &initialValues)

void	reorder_relinearize ()

Protected Attributes
GaussianFactorGraph::Eliminate	eliminationFunction_

NonlinearFactorGraph	factors_

gtsam::GaussianISAM	isam_

Values	linPoint_

int	reorderCounter_

int	reorderInterval_

Detailed Description

Wrapper class to manage ISAM in a nonlinear context

Definition at line 27 of file NonlinearISAM.h.

Constructor & Destructor Documentation

gtsam::NonlinearISAM::NonlinearISAM	(	int	reorderInterval = `1`,
		const GaussianFactorGraph::Eliminate &	eliminationFunction = `GaussianFactorGraph::EliminationTraitsType::DefaultEliminate`
	)

inline

Periodically reorder and relinearize

Parameters

reorderInterval is the number of updates between reorderings, 0 never reorders (and is dangerous for memory consumption) 1 (default) reorders every time, in worse case is batch every update typical values are 50 or 100

Definition at line 58 of file NonlinearISAM.h.

Member Function Documentation

const GaussianISAM& gtsam::NonlinearISAM::bayesTree ( ) const

inline

access the underlying bayes tree

Definition at line 75 of file NonlinearISAM.h.

Values gtsam::NonlinearISAM::estimate ( ) const

Return the current solution estimate

Definition at line 80 of file NonlinearISAM.cpp.

const NonlinearFactorGraph& gtsam::NonlinearISAM::getFactorsUnsafe ( ) const

inline

get underlying nonlinear graph

Definition at line 81 of file NonlinearISAM.h.

const Values& gtsam::NonlinearISAM::getLinearizationPoint ( ) const

inline

Return the current linearization point

Definition at line 78 of file NonlinearISAM.h.

Matrix gtsam::NonlinearISAM::marginalCovariance ( Key key ) const

find the marginal covariance for a single variable

Definition at line 88 of file NonlinearISAM.cpp.

void gtsam::NonlinearISAM::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

prints out all contents of the system

Definition at line 93 of file NonlinearISAM.cpp.

void gtsam::NonlinearISAM::printStats ( ) const

prints out clique statistics

Definition at line 101 of file NonlinearISAM.cpp.

void gtsam::NonlinearISAM::reorder_relinearize ( )

Relinearization and reordering of variables

Definition at line 59 of file NonlinearISAM.cpp.

int gtsam::NonlinearISAM::reorderCounter ( ) const

inline

TODO: comment.

Definition at line 85 of file NonlinearISAM.h.

int gtsam::NonlinearISAM::reorderInterval ( ) const

inline

TODO: comment.

get counters

Definition at line 84 of file NonlinearISAM.h.

void gtsam::NonlinearISAM::saveGraph	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

saves the Tree to a text file in GraphViz format

Definition at line 30 of file NonlinearISAM.cpp.

void gtsam::NonlinearISAM::update	(	const NonlinearFactorGraph &	newFactors,
		const Values &	initialValues
	)

Add new factors along with their initial linearization points

Definition at line 35 of file NonlinearISAM.cpp.

Member Data Documentation

GaussianFactorGraph::Eliminate gtsam::NonlinearISAM::eliminationFunction_

protected

The elimination function

Definition at line 44 of file NonlinearISAM.h.

NonlinearFactorGraph gtsam::NonlinearISAM::factors_

protected

The original factors, used when relinearizing

Definition at line 37 of file NonlinearISAM.h.

gtsam::GaussianISAM gtsam::NonlinearISAM::isam_

protected

The internal iSAM object

Definition at line 31 of file NonlinearISAM.h.

Values gtsam::NonlinearISAM::linPoint_

protected

The current linearization point

Definition at line 34 of file NonlinearISAM.h.

int gtsam::NonlinearISAM::reorderCounter_

protected

Definition at line 41 of file NonlinearISAM.h.

int gtsam::NonlinearISAM::reorderInterval_

protected

The reordering interval and counter

Definition at line 40 of file NonlinearISAM.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation