#include <ISAM2-impl.h>
Public Member Functions | |
void | augmentVariableIndex (const NonlinearFactorGraph &newFactors, const FactorIndices &newFactorsIndices, VariableIndex *variableIndex) const |
void | computeUnusedKeys (const NonlinearFactorGraph &newFactors, const VariableIndex &variableIndex, const KeySet &keysWithRemovedFactors, KeySet *unusedKeys) const |
void | error (const NonlinearFactorGraph &nonlinearFactors, const Values &estimate, boost::optional< double > *result) const |
void | findFluid (const ISAM2::Roots &roots, const KeySet &relinKeys, KeySet *markedKeys, ISAM2Result::DetailedResults *detail) const |
void | gatherInvolvedKeys (const NonlinearFactorGraph &newFactors, const NonlinearFactorGraph &nonlinearFactors, const KeySet &keysWithRemovedFactors, KeySet *markedKeys) const |
KeySet | gatherRelinearizeKeys (const ISAM2::Roots &roots, const VectorValues &delta, const KeySet &fixedVariables, KeySet *markedKeys) const |
void | linearizeNewFactors (const NonlinearFactorGraph &newFactors, const Values &theta, size_t numNonlinearFactors, const FactorIndices &newFactorsIndices, GaussianFactorGraph *linearFactors) const |
void | pushBackFactors (const NonlinearFactorGraph &newFactors, NonlinearFactorGraph *nonlinearFactors, GaussianFactorGraph *linearFactors, VariableIndex *variableIndex, FactorIndices *newFactorsIndices, KeySet *keysWithRemovedFactors) const |
void | recordRelinearizeDetail (const KeySet &relinKeys, ISAM2Result::DetailedResults *detail) const |
bool | relinarizationNeeded (size_t update_count) const |
UpdateImpl (const ISAM2Params ¶ms, const ISAM2UpdateParams &updateParams) | |
void | updateKeys (const KeySet &markedKeys, ISAM2Result *result) const |
Public Attributes | |
const ISAM2Params & | params_ |
const ISAM2UpdateParams & | updateParams_ |
Implementation functions for update method All of the methods below have clear inputs and outputs, even if not functional: iSAM2 is inherintly imperative.
Definition at line 114 of file ISAM2-impl.h.
|
inline |
Definition at line 117 of file ISAM2-impl.h.
|
inline |
Definition at line 486 of file ISAM2-impl.h.
|
inlinestatic |
Find the set of variables to be relinearized according to relinearizeThreshold. Any variables in the VectorValues delta whose vector magnitude is greater than or equal to relinearizeThreshold are returned.
delta | The linear delta to check against the threshold |
keyFormatter | Formatter for printing nonlinear keys during debugging |
Definition at line 345 of file ISAM2-impl.h.
|
inlinestatic |
Find the set of variables to be relinearized according to relinearizeThreshold. This check is performed recursively, starting at the top of the tree. Once a variable in the tree does not need to be relinearized, no further checks in that branch are performed. This is an approximation of the Full version, designed to save time at the expense of accuracy.
delta | The linear delta to check against the threshold |
keyFormatter | Formatter for printing nonlinear keys during debugging |
Definition at line 318 of file ISAM2-impl.h.
|
inlinestatic |
Definition at line 284 of file ISAM2-impl.h.
|
inlinestatic |
Definition at line 250 of file ISAM2-impl.h.
|
inline |
Definition at line 180 of file ISAM2-impl.h.
|
inline |
Definition at line 197 of file ISAM2-impl.h.
|
inlinestatic |
Apply expmap to the given values, but only for indices appearing in mask
. Values are expmapped in-place.
mask | Mask on linear indices, only true entries are expmapped |
Definition at line 444 of file ISAM2-impl.h.
|
inline |
Definition at line 417 of file ISAM2-impl.h.
|
inline |
Definition at line 204 of file ISAM2-impl.h.
|
inline |
Definition at line 375 of file ISAM2-impl.h.
|
inlinestatic |
Definition at line 522 of file ISAM2-impl.h.
|
inlinestatic |
Definition at line 535 of file ISAM2-impl.h.
|
inline |
Definition at line 470 of file ISAM2-impl.h.
|
inlinestatic |
Definition at line 505 of file ISAM2-impl.h.
|
inlinestatic |
Definition at line 121 of file ISAM2-impl.h.
|
inline |
Definition at line 146 of file ISAM2-impl.h.
|
inline |
Definition at line 405 of file ISAM2-impl.h.
|
inline |
Definition at line 139 of file ISAM2-impl.h.
|
inline |
Definition at line 233 of file ISAM2-impl.h.
const ISAM2Params& gtsam::UpdateImpl::params_ |
Definition at line 115 of file ISAM2-impl.h.
const ISAM2UpdateParams& gtsam::UpdateImpl::updateParams_ |
Definition at line 116 of file ISAM2-impl.h.