#include <ConcurrentFilteringAndSmoothing.h>

Inheritance diagram for gtsam::ConcurrentFilter:

Public Types
typedef std::shared_ptr< ConcurrentFilter >	shared_ptr

Public Member Functions
	ConcurrentFilter ()=default

virtual bool	equals (const ConcurrentFilter &rhs, double tol=1e-9) const =0

virtual void	getSmootherFactors (NonlinearFactorGraph &smootherFactors, Values &smootherValues)=0

virtual void	getSummarizedFactors (NonlinearFactorGraph &summarizedFactors, Values &separatorValues)=0

virtual void	postsync ()

virtual void	presync ()

virtual void	print (const std::string &s="Concurrent Filter:\, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const=0

virtual void	synchronize (const NonlinearFactorGraph &summarizedFactors, const Values &separatorValues)=0

virtual	~ConcurrentFilter ()=default

Detailed Description

The interface for the 'Filter' portion of the Concurrent Filtering and Smoother architecture.

Definition at line 39 of file ConcurrentFilteringAndSmoothing.h.

Member Typedef Documentation

◆ shared_ptr

typedef std::shared_ptr<ConcurrentFilter> gtsam::ConcurrentFilter::shared_ptr

Definition at line 41 of file ConcurrentFilteringAndSmoothing.h.

Constructor & Destructor Documentation

◆ ConcurrentFilter()

gtsam::ConcurrentFilter::ConcurrentFilter ( )

default

Default constructor

◆ ~ConcurrentFilter()

virtual gtsam::ConcurrentFilter::~ConcurrentFilter ( )

virtualdefault

Default destructor

Member Function Documentation

◆ equals()

virtual bool gtsam::ConcurrentFilter::equals	(	const ConcurrentFilter &	rhs,
		double	tol = `1e-9`
	)		const

pure virtual

Check if two Concurrent Smoothers are equal

Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.

◆ getSmootherFactors()

virtual void gtsam::ConcurrentFilter::getSmootherFactors	(	NonlinearFactorGraph &	smootherFactors,
		Values &	smootherValues
	)

pure virtual

Populate the provided containers with factors being sent to the smoother from the filter. These may be original nonlinear factors, or factors encoding a summarization of the filter information. The specifics will be implementation-specific for a given filter.

Parameters

smootherFactors	The new factors to be added to the smoother
smootherValues	The linearization points of any new variables

Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.

◆ getSummarizedFactors()

virtual void gtsam::ConcurrentFilter::getSummarizedFactors	(	NonlinearFactorGraph &	summarizedFactors,
		Values &	separatorValues
	)

pure virtual

Populate the provided containers with factors that constitute the filter branch summarization needed by the smoother. Also, linearization points for the new root clique must be provided.

Parameters