#include <ISAM2-impl.h>

Static Public Member Functions
static VectorValues	ComputeGradientSearch (const VectorValues &gradAtZero, const VectorValues &RgProd)

static size_t	UpdateGaussNewtonDelta (const ISAM2::Roots &roots, const KeySet &replacedKeys, double wildfireThreshold, VectorValues *delta)

static size_t	UpdateRgProd (const ISAM2::Roots &roots, const KeySet &replacedKeys, const VectorValues &gradAtZero, VectorValues *RgProd)

Detailed Description

Definition at line 72 of file ISAM2-impl.h.

Member Function Documentation

VectorValues gtsam::DeltaImpl::ComputeGradientSearch	(	const VectorValues &	gradAtZero,
		const VectorValues &	RgProd
	)

static

Compute the gradient-search point. Only used in Dogleg.

Definition at line 146 of file ISAM2-impl.cpp.

size_t gtsam::DeltaImpl::UpdateGaussNewtonDelta	(	const ISAM2::Roots &	roots,
		const KeySet &	replacedKeys,
		double	wildfireThreshold,
		VectorValues *	delta
	)

static

Update the Newton's method step point, using wildfire

Definition at line 48 of file ISAM2-impl.cpp.

size_t gtsam::DeltaImpl::UpdateRgProd	(	const ISAM2::Roots &	roots,
		const KeySet &	replacedKeys,
		const VectorValues &	gradAtZero,
		VectorValues *	RgProd
	)

static

Update the RgProd (R*g) incrementally taking into account which variables have been recalculated in replacedKeys. Only used in Dogleg.

Definition at line 131 of file ISAM2-impl.cpp.

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