ISAM.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
18 // \callgraph
19 #pragma once
20 
21 #include <gtsam/global_includes.h>
22 
23 namespace gtsam {
24 
30 template <class BAYESTREE>
31 class ISAM : public BAYESTREE {
32  public:
33  typedef BAYESTREE Base;
34  typedef typename Base::BayesNetType BayesNetType;
36  typedef typename Base::Clique Clique;
37  typedef typename Base::sharedClique sharedClique;
38  typedef typename Base::Cliques Cliques;
39 
40  private:
41  typedef typename Base::Eliminate Eliminate;
43 
44  public:
47 
49  ISAM() {}
50 
52  explicit ISAM(const Base& bayesTree) : Base(bayesTree) {}
53 
57 
64  void update(
65  const FactorGraphType& newFactors,
66  const Eliminate& function = EliminationTraitsType::DefaultEliminate);
67 
70  void updateInternal(
71  const FactorGraphType& newFactors, Cliques* orphans,
72  const Eliminate& function = EliminationTraitsType::DefaultEliminate);
73 
75 };
76 
77 } // namespace gtsam
Base::Cliques Cliques
Definition: ISAM.h:38
void update(const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
Definition: ISAM-inst.h:62
A clique in a HybridBayesTree which is a HybridConditional internally.
FactorGraphType::Eliminate Eliminate
Definition: BayesTree.h:85
Base::sharedClique sharedClique
Definition: ISAM.h:37
ISAM()
Definition: ISAM.h:49
Base::Clique Clique
Definition: ISAM.h:36
std::shared_ptr< Clique > sharedClique
Shared pointer to a clique.
Definition: BayesTree.h:74
HybridBayesTreeClique ::EliminationTraitsType EliminationTraitsType
Definition: BayesTree.h:86
Included from all GTSAM files.
BAYESTREE Base
Definition: ISAM.h:33
Base::FactorGraphType FactorGraphType
Definition: ISAM.h:35
Base::Eliminate Eliminate
Definition: ISAM.h:41
HybridBayesTreeClique ::FactorGraphType FactorGraphType
Definition: BayesTree.h:83
traits
Definition: chartTesting.h:28
void updateInternal(const FactorGraphType &newFactors, Cliques *orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
Definition: ISAM-inst.h:27
Base::EliminationTraitsType EliminationTraitsType
Definition: ISAM.h:42
Base::BayesNetType BayesNetType
Definition: ISAM.h:34
HybridBayesTreeClique ::BayesNetType BayesNetType
Definition: BayesTree.h:79
ISAM(const Base &bayesTree)
Definition: ISAM.h:52


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autogenerated on Tue Jul 4 2023 02:34:25