Incremental Smoothing and Mapping (ISAM) algorithm for hybrid factor graphs. More...

#include <HybridGaussianISAM.h>

Inheritance diagram for gtsam::HybridGaussianISAM:

[legend]

Public Types
typedef ISAM< HybridBayesTree >	Base

typedef std::shared_ptr< This >	shared_ptr

typedef HybridGaussianISAM	This

Public Types inherited from gtsam::ISAM< HybridBayesTree >
typedef HybridBayesTree	Base

typedef Base::BayesNetType	BayesNetType

typedef Base::Clique	Clique

typedef Base::Cliques	Cliques

typedef Base::FactorGraphType	FactorGraphType

typedef Base::sharedClique	sharedClique

Public Types inherited from gtsam::HybridBayesTree
typedef std::shared_ptr< This >	shared_ptr

typedef HybridBayesTree	This

Public Types inherited from gtsam::BayesTree< HybridBayesTreeClique >
typedef HybridBayesTreeClique ::BayesNetType	BayesNetType

typedef HybridBayesTreeClique	Clique
	The clique type, normally BayesTreeClique. More...

typedef FastList< sharedClique >	Cliques

typedef HybridBayesTreeClique ::ConditionalType	ConditionalType

typedef FactorGraphType::Eliminate	Eliminate

typedef HybridBayesTreeClique ::EliminationTraitsType	EliminationTraitsType

typedef HybridBayesTreeClique ::FactorGraphType	FactorGraphType

typedef HybridBayesTreeClique ::FactorType	FactorType

typedef Clique	Node
	Synonym for Clique (TODO: remove) More...

typedef ConcurrentMap< Key, sharedClique >	Nodes

typedef FastVector< sharedClique >	Roots

typedef std::shared_ptr< BayesNetType >	sharedBayesNet

typedef std::shared_ptr< Clique >	sharedClique
	Shared pointer to a clique. More...

typedef std::shared_ptr< ConditionalType >	sharedConditional

typedef std::shared_ptr< FactorType >	sharedFactor

typedef std::shared_ptr< FactorGraphType >	sharedFactorGraph

typedef sharedClique	sharedNode
	Synonym for sharedClique (TODO: remove) More...

Public Member Functions
void	update (const HybridGaussianFactorGraph &newFactors, const std::optional< size_t > &maxNrLeaves={}, const std::optional< Ordering > &ordering={}, const HybridBayesTree::Eliminate &function=HybridBayesTree::EliminationTraitsType::DefaultEliminate)
	Perform update step with new factors. More...

Standard Constructors
	HybridGaussianISAM ()

	HybridGaussianISAM (const HybridBayesTree &bayesTree)

Public Member Functions inherited from gtsam::ISAM< HybridBayesTree >
	ISAM ()

	ISAM (const Base &bayesTree)

void	update (const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate)

void	updateInternal (const FactorGraphType &newFactors, Cliques *orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate)

Public Member Functions inherited from gtsam::HybridBayesTree
	HybridBayesTree ()=default

bool	equals (const This &other, double tol=1e-9) const

GaussianBayesTree	choose (const DiscreteValues &assignment) const
	Get the Gaussian Bayes Tree which corresponds to a specific discrete value assignment. More...

double	error (const HybridValues &values) const

HybridValues	optimize () const
	Optimize the hybrid Bayes tree by computing the MPE for the current set of discrete variables and using it to compute the best continuous update delta. More...

VectorValues	optimize (const DiscreteValues &assignment) const
	Recursively optimize the BayesTree to produce a vector solution. More...

DiscreteValues	mpe () const
	Compute the Most Probable Explanation (MPE) of the discrete variables. More...

void	prune (const size_t maxNumberLeaves)
	Prune the underlying Bayes tree. More...

Public Member Functions inherited from gtsam::BayesTree< HybridBayesTreeClique >
bool	equals (const This &other, double tol=1e-9) const

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

size_t	size () const

bool	empty () const

const Nodes &	nodes () const

sharedClique	operator[] (Key j) const

const Roots &	roots () const

const sharedClique &	clique (Key j) const

BayesTreeCliqueData	getCliqueData () const

size_t	numCachedSeparatorMarginals () const

sharedConditional	marginalFactor (Key j, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const

sharedFactorGraph	joint (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const

sharedBayesNet	jointBayesNet (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const

void	dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Output to graphviz format, stream version. More...

std::string	dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Output to graphviz format string. More...

void	saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	output to file with graphviz format. More...

Key	findParentClique (const CONTAINER &parents) const

void	clear ()

void	deleteCachedShortcuts ()

void	removePath (sharedClique clique, BayesNetType bn, Cliques orphans)

void	removeTop (const KeyVector &keys, BayesNetType bn, Cliques orphans)

Cliques	removeSubtree (const sharedClique &subtree)

void	insertRoot (const sharedClique &subtree)

void	addClique (const sharedClique &clique, const sharedClique &parent_clique=sharedClique())

void	addFactorsToGraph (FactorGraph< FactorType > *graph) const

Static Public Member Functions
static Ordering	GetOrdering (HybridGaussianFactorGraph &factors, const HybridGaussianFactorGraph &newFactors)
	Helper method to get an ordering given the existing factors and any new factors added. More...

Private Member Functions
void	updateInternal (const HybridGaussianFactorGraph &newFactors, HybridBayesTree::Cliques *orphans, const std::optional< size_t > &maxNrLeaves={}, const std::optional< Ordering > &ordering={}, const HybridBayesTree::Eliminate &function=HybridBayesTree::EliminationTraitsType::DefaultEliminate)
	Internal method that performs the ISAM update. More...

Additional Inherited Members
Protected Types inherited from gtsam::BayesTree< HybridBayesTreeClique >
typedef std::shared_ptr< This >	shared_ptr

typedef BayesTree< HybridBayesTreeClique >	This

Protected Member Functions inherited from gtsam::BayesTree< HybridBayesTreeClique >
This &	operator= (const This &other)

	~BayesTree ()

	BayesTree ()

	BayesTree (const This &other)

void	getCliqueData (sharedClique clique, BayesTreeCliqueData *stats) const

void	dot (std::ostream &s, sharedClique clique, const KeyFormatter &keyFormatter, int parentnum=0) const

void	removeClique (sharedClique clique)

void	fillNodesIndex (const sharedClique &subtree)

Protected Attributes inherited from gtsam::BayesTree< HybridBayesTreeClique >
Nodes	nodes_

Roots	roots_

Detailed Description

Incremental Smoothing and Mapping (ISAM) algorithm for hybrid factor graphs.

Definition at line 37 of file HybridGaussianISAM.h.

Member Typedef Documentation

◆ Base

typedef ISAM<HybridBayesTree> gtsam::HybridGaussianISAM::Base

Definition at line 39 of file HybridGaussianISAM.h.

◆ shared_ptr

typedef std::shared_ptr<This> gtsam::HybridGaussianISAM::shared_ptr

Definition at line 41 of file HybridGaussianISAM.h.

◆ This

typedef HybridGaussianISAM gtsam::HybridGaussianISAM::This

Definition at line 40 of file HybridGaussianISAM.h.

Constructor & Destructor Documentation

◆ HybridGaussianISAM() [1/2]

gtsam::HybridGaussianISAM::HybridGaussianISAM ( )

Create an empty Bayes Tree

Definition at line 35 of file HybridGaussianISAM.cpp.

◆ HybridGaussianISAM() [2/2]

gtsam::HybridGaussianISAM::HybridGaussianISAM ( const HybridBayesTree & bayesTree )

Copy constructor

Definition at line 38 of file HybridGaussianISAM.cpp.

Member Function Documentation

◆ GetOrdering()

Ordering gtsam::HybridGaussianISAM::GetOrdering	(	HybridGaussianFactorGraph &	factors,
		const HybridGaussianFactorGraph &	newFactors
	)

static

Helper method to get an ordering given the existing factors and any new factors added.

Parameters

factors	The existing factors in the BayesTree.
newFactors	New factors added during the update step.

Returns: Ordering

Definition at line 42 of file HybridGaussianISAM.cpp.

◆ update()

void gtsam::HybridGaussianISAM::update	(	const HybridGaussianFactorGraph &	newFactors,
		const std::optional< size_t > &	maxNrLeaves = `{}`,
		const std::optional< Ordering > &	ordering = `{}`,
		const HybridBayesTree::Eliminate &	function = `HybridBayesTree::EliminationTraitsType::DefaultEliminate`
	)

Perform update step with new factors.

Parameters

newFactors	Factor graph of new factors to add and eliminate.
maxNrLeaves	The maximum number of leaves to keep after pruning.
ordering	Custom elimination ordering.
function	Elimination function.

Definition at line 123 of file HybridGaussianISAM.cpp.

◆ updateInternal()

void gtsam::HybridGaussianISAM::updateInternal	(	const HybridGaussianFactorGraph &	newFactors,
		HybridBayesTree::Cliques *	orphans,
		const std::optional< size_t > &	maxNrLeaves = `{}`,
		const std::optional< Ordering > &	ordering = `{}`,
		const HybridBayesTree::Eliminate &	function = `HybridBayesTree::EliminationTraitsType::DefaultEliminate`
	)

private

Internal method that performs the ISAM update.

Definition at line 71 of file HybridGaussianISAM.cpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Additional Inherited Members