#include <ConcurrentIncrementalSmoother.h>

Inheritance diagram for gtsam::ConcurrentIncrementalSmoother:

Classes
struct	Result

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

typedef std::shared_ptr< ConcurrentIncrementalSmoother >	shared_ptr

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

Public Member Functions
Values	calculateEstimate () const

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

	ConcurrentIncrementalSmoother (const ISAM2Params &parameters=ISAM2Params())

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

const VectorValues &	getDelta () const

const NonlinearFactorGraph &	getFactors () const

const Values &	getLinearizationPoint () const

void	getSummarizedFactors (NonlinearFactorGraph &summarizedFactors, Values &separatorValues) override

void	postsync () override

void	presync () override

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

void	synchronize (const NonlinearFactorGraph &smootherFactors, const Values &smootherValues, const NonlinearFactorGraph &summarizedFactors, const Values &separatorValues) override

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

	~ConcurrentIncrementalSmoother () override

Public Member Functions inherited from gtsam::ConcurrentSmoother
	ConcurrentSmoother ()

virtual	~ConcurrentSmoother ()=default

Protected Attributes
NonlinearFactorGraph	filterSummarizationFactors_
	New filter summarization factors to replace the existing filter summarization during the next update. More...

FactorIndices	filterSummarizationSlots_
	The slots in factor graph that correspond to the current filter summarization factors. More...

ISAM2	isam2_
	iSAM2 inference engine More...

Values	separatorValues_
	The linearization points of the separator variables. These should not be changed during optimization. More...

NonlinearFactorGraph	smootherFactors_
	New factors to be added to the smoother during the next update. More...

NonlinearFactorGraph	smootherSummarization_
	A temporary holding place for calculated smoother summarization. More...

Values	smootherValues_
	New variables to be added to the smoother during the next update. More...

bool	synchronizationUpdatesAvailable_
	Flag indicating the currently stored synchronization updates have not been applied yet. More...

Private Member Functions
void	updateSmootherSummarization ()

Detailed Description

A Levenberg-Marquardt Batch Smoother that implements the Concurrent Filtering and Smoother interface.

Definition at line 30 of file ConcurrentIncrementalSmoother.h.

Member Typedef Documentation

◆ Base

typedef ConcurrentSmoother gtsam::ConcurrentIncrementalSmoother::Base

typedef for base class

Definition at line 34 of file ConcurrentIncrementalSmoother.h.

◆ shared_ptr

typedef std::shared_ptr<ConcurrentIncrementalSmoother> gtsam::ConcurrentIncrementalSmoother::shared_ptr

Definition at line 33 of file ConcurrentIncrementalSmoother.h.

Constructor & Destructor Documentation

◆ ConcurrentIncrementalSmoother()

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

inline

Default constructor

Definition at line 54 of file ConcurrentIncrementalSmoother.h.

◆ ~ConcurrentIncrementalSmoother()

gtsam::ConcurrentIncrementalSmoother::~ConcurrentIncrementalSmoother ( )

inlineoverride

Default destructor

Definition at line 57 of file ConcurrentIncrementalSmoother.h.

Member Function Documentation

◆ calculateEstimate() [1/2]

Values gtsam::ConcurrentIncrementalSmoother::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 83 of file ConcurrentIncrementalSmoother.h.

◆ calculateEstimate() [2/2]

template<class VALUE >

VALUE gtsam::ConcurrentIncrementalSmoother::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 93 of file ConcurrentIncrementalSmoother.h.

◆ equals()

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

overridevirtual

Check if two Concurrent Smoothers are equal

Implements gtsam::ConcurrentSmoother.

Definition at line 33 of file ConcurrentIncrementalSmoother.cpp.

◆ getDelta()

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

inline

Access the current set of deltas to the linearization point

Definition at line 76 of file ConcurrentIncrementalSmoother.h.

◆ getFactors()

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

inline

Access the current set of factors

Definition at line 66 of file ConcurrentIncrementalSmoother.h.

◆ getLinearizationPoint()

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

inline

Access the current linearization point

Definition at line 71 of file ConcurrentIncrementalSmoother.h.

◆ getSummarizedFactors()

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

overridevirtual

Populate the provided containers with factors that constitute the smoother branch summarization needed by the filter.

Parameters

summarizedFactors The summarized factors for the filter branch

Implements gtsam::ConcurrentSmoother.

Definition at line 140 of file ConcurrentIncrementalSmoother.cpp.

◆ postsync()

void gtsam::ConcurrentIncrementalSmoother::postsync ( )

overridevirtual

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

Reimplemented from gtsam::ConcurrentSmoother.

Definition at line 174 of file ConcurrentIncrementalSmoother.cpp.

◆ presync()

void gtsam::ConcurrentIncrementalSmoother::presync ( )

overridevirtual

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

Reimplemented from gtsam::ConcurrentSmoother.

Definition at line 132 of file ConcurrentIncrementalSmoother.cpp.

◆ print()

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

overridevirtual

Implement a GTSAM standard 'print' function

Implements gtsam::ConcurrentSmoother.

Definition at line 27 of file ConcurrentIncrementalSmoother.cpp.

◆ synchronize()

void gtsam::ConcurrentIncrementalSmoother::synchronize	(	const NonlinearFactorGraph &	smootherFactors,
		const Values &	smootherValues,
		const NonlinearFactorGraph &	summarizedFactors,
		const Values &	separatorValues
	)

overridevirtual

Apply the new smoother factors sent by the filter, and the updated version of the filter branch summarized factors.

Parameters

smootherFactors	A set of new factors added to the smoother from the filter
smootherValues	Linearization points for any new variables
summarizedFactors	An updated version of the filter branch summarized factors
rootValues	The linearization point of the root variables

Implements gtsam::ConcurrentSmoother.

Definition at line 154 of file ConcurrentIncrementalSmoother.cpp.

◆ update()

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

Add new factors and variables to the smoother.

Add new measurements, and optionally new variables, to the smoother. This runs a full step of the ISAM2 algorithm, relinearizing and updating the solution as needed, according to the wildfire and relinearize thresholds.

Parameters

newFactors	The new factors to be added to the smoother
newTheta	Initialization points for new variables to be added to the smoother You must include here all new variables occuring in newFactors (which were not already in the smoother). There must not be any variables here that do not occur in newFactors, and additionally, variables that were already in the system must not be included here.

Definition at line 47 of file ConcurrentIncrementalSmoother.cpp.

◆ updateSmootherSummarization()

void gtsam::ConcurrentIncrementalSmoother::updateSmootherSummarization ( )

private

Calculate the smoother marginal factors on the separator variables

Definition at line 182 of file ConcurrentIncrementalSmoother.cpp.

Member Data Documentation

◆ filterSummarizationFactors_

NonlinearFactorGraph gtsam::ConcurrentIncrementalSmoother::filterSummarizationFactors_

protected

New filter summarization factors to replace the existing filter summarization during the next update.

Definition at line 153 of file ConcurrentIncrementalSmoother.h.

◆ filterSummarizationSlots_

FactorIndices gtsam::ConcurrentIncrementalSmoother::filterSummarizationSlots_

protected

The slots in factor graph that correspond to the current filter summarization factors.

Definition at line 155 of file ConcurrentIncrementalSmoother.h.

◆ isam2_

ISAM2 gtsam::ConcurrentIncrementalSmoother::isam2_

protected

iSAM2 inference engine

Definition at line 148 of file ConcurrentIncrementalSmoother.h.

◆ separatorValues_

Values gtsam::ConcurrentIncrementalSmoother::separatorValues_

protected

The linearization points of the separator variables. These should not be changed during optimization.

Definition at line 154 of file ConcurrentIncrementalSmoother.h.

◆ smootherFactors_

NonlinearFactorGraph gtsam::ConcurrentIncrementalSmoother::smootherFactors_

protected

New factors to be added to the smoother during the next update.

Definition at line 151 of file ConcurrentIncrementalSmoother.h.

◆ smootherSummarization_

NonlinearFactorGraph gtsam::ConcurrentIncrementalSmoother::smootherSummarization_

protected

A temporary holding place for calculated smoother summarization.

Definition at line 159 of file ConcurrentIncrementalSmoother.h.

◆ smootherValues_

Values gtsam::ConcurrentIncrementalSmoother::smootherValues_

protected

New variables to be added to the smoother during the next update.

Definition at line 152 of file ConcurrentIncrementalSmoother.h.

◆ synchronizationUpdatesAvailable_

bool gtsam::ConcurrentIncrementalSmoother::synchronizationUpdatesAvailable_

protected

Flag indicating the currently stored synchronization updates have not been applied yet.

Definition at line 156 of file ConcurrentIncrementalSmoother.h.

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

Classes

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

Constructor & Destructor Documentation

◆ ConcurrentIncrementalSmoother()

◆ ~ConcurrentIncrementalSmoother()

Member Function Documentation

◆ calculateEstimate() [1/2]

◆ calculateEstimate() [2/2]

◆ equals()

◆ getDelta()

◆ getFactors()

◆ getLinearizationPoint()

◆ getSummarizedFactors()

◆ postsync()

◆ presync()

◆ print()

◆ synchronize()

◆ update()

◆ updateSmootherSummarization()

Member Data Documentation

◆ filterSummarizationFactors_

◆ filterSummarizationSlots_

◆ isam2_

◆ separatorValues_

◆ smootherFactors_

◆ smootherSummarization_

◆ smootherValues_

◆ synchronizationUpdatesAvailable_