#include <ConcurrentIncrementalFilter.h>

Inheritance diagram for gtsam::ConcurrentIncrementalFilter:

Classes
struct	Result

Public Types
typedef ConcurrentFilter	Base
	typedef for base class More...

typedef std::shared_ptr< ConcurrentIncrementalFilter >	shared_ptr

Public Types inherited from gtsam::ConcurrentFilter
typedef std::shared_ptr< ConcurrentFilter >	shared_ptr

Public Member Functions
Values	calculateEstimate () const

template<class VALUE >
VALUE	calculateEstimate (Key key) const

	ConcurrentIncrementalFilter (const ISAM2Params &parameters=ISAM2Params())

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

const VectorValues &	getDelta () const

const NonlinearFactorGraph &	getFactors () const

const ISAM2 &	getISAM2 () const

const Values &	getLinearizationPoint () const

void	getSmootherFactors (NonlinearFactorGraph &smootherFactors, Values &smootherValues) override

void	getSummarizedFactors (NonlinearFactorGraph &filterSummarization, Values &filterSummarizationValues) override

void	postsync () override

void	presync () override

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

void	synchronize (const NonlinearFactorGraph &smootherSummarization, const Values &smootherSummarizationValues) override

Result	update (const NonlinearFactorGraph &newFactors=NonlinearFactorGraph(), const Values &newTheta=Values(), const std::optional< FastList< Key > > &keysToMove={}, const std::optional< FactorIndices > &removeFactorIndices={})

	~ConcurrentIncrementalFilter () override

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

virtual	~ConcurrentFilter ()=default

Protected Attributes
FactorIndices	currentSmootherSummarizationSlots_
	The slots in factor graph that correspond to the current smoother summarization on the current separator. More...

ISAM2	isam2_
	The iSAM2 inference engine. More...

NonlinearFactorGraph	previousSmootherSummarization_
	The smoother summarization on the old separator sent by the smoother during the last synchronization. More...

NonlinearFactorGraph	smootherFactors_
	A temporary holding place for the set of full nonlinear factors being sent to the smoother. More...

NonlinearFactorGraph	smootherShortcut_
	A set of conditional factors from the old separator to the current separator (recursively calculated during each filter update) More...

Values	smootherValues_
	A temporary holding place for the linearization points of all keys being sent to the smoother. More...

Private Member Functions
NonlinearFactorGraph	calculateFilterSummarization () const

void	updateShortcut (const NonlinearFactorGraph &removedFactors)

Static Private Member Functions
static FactorIndices	FindAdjacentFactors (const ISAM2 &isam2, const FastList< Key > &keys, const FactorIndices &factorsToIgnore)

static void	RecursiveMarkAffectedKeys (const Key &key, const ISAM2Clique::shared_ptr &clique, std::set< Key > &additionalKeys)

Detailed Description

An iSAM2-based Batch Filter that implements the Concurrent Filtering and Smoother interface.

Definition at line 30 of file ConcurrentIncrementalFilter.h.

Member Typedef Documentation

◆ Base

typedef ConcurrentFilter gtsam::ConcurrentIncrementalFilter::Base

typedef for base class

Definition at line 35 of file ConcurrentIncrementalFilter.h.

◆ shared_ptr

typedef std::shared_ptr<ConcurrentIncrementalFilter> gtsam::ConcurrentIncrementalFilter::shared_ptr

Definition at line 34 of file ConcurrentIncrementalFilter.h.

Constructor & Destructor Documentation

◆ ConcurrentIncrementalFilter()

gtsam::ConcurrentIncrementalFilter::ConcurrentIncrementalFilter ( const ISAM2Params & parameters = ISAM2Params() )

inline

Default constructor

Definition at line 64 of file ConcurrentIncrementalFilter.h.

◆ ~ConcurrentIncrementalFilter()

gtsam::ConcurrentIncrementalFilter::~ConcurrentIncrementalFilter ( )

inlineoverride

Default destructor

Definition at line 67 of file ConcurrentIncrementalFilter.h.

Member Function Documentation

◆ calculateEstimate() [1/2]

Values gtsam::ConcurrentIncrementalFilter::calculateEstimate ( ) const

inline

Compute the current best estimate of all variables and return a full Values structure. If only a single variable is needed, it may be faster to call calculateEstimate(const KEY&).

Definition at line 98 of file ConcurrentIncrementalFilter.h.

◆ calculateEstimate() [2/2]

template<class VALUE >

VALUE gtsam::ConcurrentIncrementalFilter::calculateEstimate ( Key key ) const

inline

Compute the current best estimate of a single variable. This is generally faster than calling the no-argument version of calculateEstimate if only specific variables are needed.

Parameters

key

Returns

Definition at line 108 of file ConcurrentIncrementalFilter.h.

◆ calculateFilterSummarization()

NonlinearFactorGraph gtsam::ConcurrentIncrementalFilter::calculateFilterSummarization ( ) const

private

Calculate marginal factors on the current separator variables using just the information in the filter

Definition at line 340 of file ConcurrentIncrementalFilter.cpp.

◆ equals()

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

overridevirtual

Check if two Concurrent Filters are equal

Implements gtsam::ConcurrentFilter.

Definition at line 32 of file ConcurrentIncrementalFilter.cpp.

◆ FindAdjacentFactors()

FactorIndices gtsam::ConcurrentIncrementalFilter::FindAdjacentFactors	(	const ISAM2 &	isam2,
		const FastList< Key > &	keys,
		const FactorIndices &	factorsToIgnore
	)

staticprivate

Find the set of iSAM2 factors adjacent to 'keys'

Definition at line 288 of file ConcurrentIncrementalFilter.cpp.

◆ getDelta()

const VectorValues& gtsam::ConcurrentIncrementalFilter::getDelta ( ) const

inline

Access the current set of deltas to the linearization point

Definition at line 91 of file ConcurrentIncrementalFilter.h.

◆ getFactors()

const NonlinearFactorGraph& gtsam::ConcurrentIncrementalFilter::getFactors ( ) const

inline

Access the current set of factors

Definition at line 76 of file ConcurrentIncrementalFilter.h.

◆ getISAM2()

const ISAM2& gtsam::ConcurrentIncrementalFilter::getISAM2 ( ) const

inline

Access the current linearization point

Definition at line 81 of file ConcurrentIncrementalFilter.h.

◆ getLinearizationPoint()

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

inline

Access the current linearization point

Definition at line 86 of file ConcurrentIncrementalFilter.h.

◆ getSmootherFactors()

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

overridevirtual

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

Implements gtsam::ConcurrentFilter.

Definition at line 243 of file ConcurrentIncrementalFilter.cpp.

◆ getSummarizedFactors()

void gtsam::ConcurrentIncrementalFilter::getSummarizedFactors	(	NonlinearFactorGraph &	filterSummarization,
		Values &	filterSummarizationValues
	)

overridevirtual

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

summarizedFactors	The summarized factors for the filter branch
rootValues	The linearization points of the root clique variables

Implements gtsam::ConcurrentFilter.

Definition at line 227 of file ConcurrentIncrementalFilter.cpp.

◆ postsync()

void gtsam::ConcurrentIncrementalFilter::postsync ( )

overridevirtual

Perform any required operations after the synchronization process finishes. Called by 'synchronize'

Reimplemented from gtsam::ConcurrentFilter.

Definition at line 255 of file ConcurrentIncrementalFilter.cpp.

◆ presync()

void gtsam::ConcurrentIncrementalFilter::presync ( )

overridevirtual

Perform any required operations before the synchronization process starts. Called by 'synchronize'

Reimplemented from gtsam::ConcurrentFilter.

Definition at line 167 of file ConcurrentIncrementalFilter.cpp.

◆ print()

void gtsam::ConcurrentIncrementalFilter::print	(	const std::string &	s = `"Concurrent Incremental Filter:\n"`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

Implement a GTSAM standard 'print' function

Implements gtsam::ConcurrentFilter.

Definition at line 26 of file ConcurrentIncrementalFilter.cpp.

◆ RecursiveMarkAffectedKeys()

void gtsam::ConcurrentIncrementalFilter::RecursiveMarkAffectedKeys	(	const Key &	key,
		const ISAM2Clique::shared_ptr &	clique,
		std::set< Key > &	additionalKeys
	)

staticprivate

Traverse the iSAM2 Bayes Tree, inserting all descendants of the provided index/key into 'additionalKeys'

Definition at line 268 of file ConcurrentIncrementalFilter.cpp.

◆ synchronize()

void gtsam::ConcurrentIncrementalFilter::synchronize	(	const NonlinearFactorGraph &	smootherSummarization,
		const Values &	smootherSummarizationValues
	)

overridevirtual

Apply the updated version of the smoother branch summarized factors.

Parameters

summarizedFactors An updated version of the smoother branch summarized factors

Implements gtsam::ConcurrentFilter.

Definition at line 175 of file ConcurrentIncrementalFilter.cpp.

◆ update()

ConcurrentIncrementalFilter::Result gtsam::ConcurrentIncrementalFilter::update	(	const NonlinearFactorGraph &	newFactors = `NonlinearFactorGraph()`,
		const Values &	newTheta = `Values()`,
		const std::optional< FastList< Key > > &	keysToMove = `{}`,
		const std::optional< FactorIndices > &	removeFactorIndices = `{}`
	)

Add new factors and variables to the filter.

Add new measurements, and optionally new variables, to the filter. This runs a full update step of the derived filter algorithm

Parameters

newFactors	The new factors to be added to the smoother
newTheta	Initialization points for new variables to be added to the filter You must include here all new variables occurring in newFactors that were not already in the filter.
keysToMove	An optional set of keys to move from the filter to the smoother
removeFactorIndices	An optional set of indices corresponding to the factors you want to remove from the graph

Definition at line 45 of file ConcurrentIncrementalFilter.cpp.

◆ updateShortcut()

void gtsam::ConcurrentIncrementalFilter::updateShortcut ( const NonlinearFactorGraph & removedFactors )

private

Update the shortcut marginal between the current separator keys and the previous separator keys

************************************************************************* */

Definition at line 312 of file ConcurrentIncrementalFilter.cpp.

Member Data Documentation

◆ currentSmootherSummarizationSlots_

FactorIndices gtsam::ConcurrentIncrementalFilter::currentSmootherSummarizationSlots_

protected

The slots in factor graph that correspond to the current smoother summarization on the current separator.

Definition at line 173 of file ConcurrentIncrementalFilter.h.

◆ isam2_

ISAM2 gtsam::ConcurrentIncrementalFilter::isam2_

protected

The iSAM2 inference engine.

Definition at line 169 of file ConcurrentIncrementalFilter.h.

◆ previousSmootherSummarization_

NonlinearFactorGraph gtsam::ConcurrentIncrementalFilter::previousSmootherSummarization_

protected

The smoother summarization on the old separator sent by the smoother during the last synchronization.

Definition at line 172 of file ConcurrentIncrementalFilter.h.

◆ smootherFactors_

NonlinearFactorGraph gtsam::ConcurrentIncrementalFilter::smootherFactors_

protected

A temporary holding place for the set of full nonlinear factors being sent to the smoother.

Definition at line 177 of file ConcurrentIncrementalFilter.h.

◆ smootherShortcut_

NonlinearFactorGraph gtsam::ConcurrentIncrementalFilter::smootherShortcut_

protected

A set of conditional factors from the old separator to the current separator (recursively calculated during each filter update)

Definition at line 174 of file ConcurrentIncrementalFilter.h.

◆ smootherValues_

Values gtsam::ConcurrentIncrementalFilter::smootherValues_

protected

A temporary holding place for the linearization points of all keys being sent to the smoother.

Definition at line 178 of file ConcurrentIncrementalFilter.h.

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

Classes

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

Constructor & Destructor Documentation

◆ ConcurrentIncrementalFilter()

◆ ~ConcurrentIncrementalFilter()

Member Function Documentation

◆ calculateEstimate() [1/2]

◆ calculateEstimate() [2/2]

◆ calculateFilterSummarization()

◆ equals()

◆ FindAdjacentFactors()

◆ getDelta()

◆ getFactors()

◆ getISAM2()

◆ getLinearizationPoint()

◆ getSmootherFactors()

◆ getSummarizedFactors()

◆ postsync()

◆ presync()

◆ print()

◆ RecursiveMarkAffectedKeys()

◆ synchronize()

◆ update()

◆ updateShortcut()

Member Data Documentation

◆ currentSmootherSummarizationSlots_

◆ isam2_

◆ previousSmootherSummarization_

◆ smootherFactors_

◆ smootherShortcut_

◆ smootherValues_