gtsam::HybridNonlinearISAM Class Reference

#include <HybridNonlinearISAM.h>

Public Member Functions
Standard Constructors
	HybridNonlinearISAM (int reorderInterval=1, const HybridGaussianFactorGraph::Eliminate &eliminationFunction=HybridGaussianFactorGraph::EliminationTraitsType::DefaultEliminate)
Standard Interface
Values	estimate ()
const HybridGaussianISAM &	bayesTree () const
void	prune (const size_t maxNumberLeaves)
	Prune the underlying Bayes tree. More...
const Values &	getLinearizationPoint () const
const DiscreteValues &	assignment () const
const HybridNonlinearFactorGraph &	getFactorsUnsafe () const
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 HybridNonlinearFactorGraph &newFactors, const Values &initialValues, const std::optional< size_t > &maxNrLeaves={}, const std::optional< Ordering > &ordering={})
void	reorderRelinearize ()

Protected Attributes
DiscreteValues	assignment_
	The discrete assignment. More...
HybridGaussianFactorGraph::Eliminate	eliminationFunction_
HybridNonlinearFactorGraph	factors_
gtsam::HybridGaussianISAM	isam_
Values	linPoint_
int	reorderCounter_
int	reorderInterval_

Detailed Description

Wrapper class to manage ISAM in a nonlinear context

Definition at line 29 of file HybridNonlinearISAM.h.

Constructor & Destructor Documentation

HybridNonlinearISAM()

gtsam::HybridNonlinearISAM::HybridNonlinearISAM ( int  reorderInterval = 1, const HybridGaussianFactorGraph::Eliminate &  eliminationFunction = HybridGaussianFactorGraph::EliminationTraitsType::DefaultEliminate  )

inline

Periodically reorder and re-linearize

Parameters

reorderInterval

is the number of updates between re-orderings, 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 61 of file HybridNonlinearISAM.h.

Member Function Documentation

assignment()

const DiscreteValues& gtsam::HybridNonlinearISAM::assignment ( ) const

inline

Return the current discrete assignment

Definition at line 95 of file HybridNonlinearISAM.h.

bayesTree()

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

inline

access the underlying bayes tree

Definition at line 82 of file HybridNonlinearISAM.h.

estimate()

Values gtsam::HybridNonlinearISAM::estimate

(

)

Return the current solution estimate

Definition at line 103 of file HybridNonlinearISAM.cpp.

getFactorsUnsafe()

const HybridNonlinearFactorGraph& gtsam::HybridNonlinearISAM::getFactorsUnsafe ( ) const

inline

get underlying nonlinear graph

Definition at line 98 of file HybridNonlinearISAM.h.

getLinearizationPoint()

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

inline

Return the current linearization point

Definition at line 92 of file HybridNonlinearISAM.h.

print()

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

prints out all contents of the system

Definition at line 120 of file HybridNonlinearISAM.cpp.

printStats()

void gtsam::HybridNonlinearISAM::printStats

(

)

const

prints out clique statistics

Definition at line 132 of file HybridNonlinearISAM.cpp.

prune()

void gtsam::HybridNonlinearISAM::prune ( const size_t  maxNumberLeaves )

inline

Prune the underlying Bayes tree.

Parameters

maxNumberLeaves

The max number of leaf nodes to keep.

Definition at line 89 of file HybridNonlinearISAM.h.

reorderRelinearize()

void gtsam::HybridNonlinearISAM::reorderRelinearize

(

)

Re-linearization and reordering of variables

Definition at line 64 of file HybridNonlinearISAM.cpp.

saveGraph()

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

saves the Tree to a text file in GraphViz format

Definition at line 31 of file HybridNonlinearISAM.cpp.

update()

void gtsam::HybridNonlinearISAM::update	(	const HybridNonlinearFactorGraph &	newFactors,
		const Values &	initialValues,
		const std::optional< size_t > &	maxNrLeaves = {},
		const std::optional< Ordering > &	ordering = {}
	)

Add new factors along with their initial linearization points

Definition at line 37 of file HybridNonlinearISAM.cpp.

Member Data Documentation

assignment_

DiscreteValues gtsam::HybridNonlinearISAM::assignment_

protected

The discrete assignment.

Definition at line 38 of file HybridNonlinearISAM.h.

eliminationFunction_

HybridGaussianFactorGraph::Eliminate gtsam::HybridNonlinearISAM::eliminationFunction_

protected

The elimination function

Definition at line 48 of file HybridNonlinearISAM.h.

factors_

HybridNonlinearFactorGraph gtsam::HybridNonlinearISAM::factors_

protected

The original factors, used when re-linearizing

Definition at line 41 of file HybridNonlinearISAM.h.

isam_

gtsam::HybridGaussianISAM gtsam::HybridNonlinearISAM::isam_

protected

The internal iSAM object

Definition at line 32 of file HybridNonlinearISAM.h.

linPoint_

Values gtsam::HybridNonlinearISAM::linPoint_

protected

The current linearization point

Definition at line 35 of file HybridNonlinearISAM.h.

reorderCounter_

int gtsam::HybridNonlinearISAM::reorderCounter_

protected

Definition at line 45 of file HybridNonlinearISAM.h.

reorderInterval_

int gtsam::HybridNonlinearISAM::reorderInterval_

protected

The reordering interval and counter

Definition at line 44 of file HybridNonlinearISAM.h.

---

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

• HybridNonlinearISAM.h
• HybridNonlinearISAM.cpp