Public Types | Public Member Functions | List of all members
gtsam::ConcurrentSmoother Class Referenceabstract

#include <ConcurrentFilteringAndSmoothing.h>

Inheritance diagram for gtsam::ConcurrentSmoother:
Inheritance graph
[legend]

Public Types

typedef std::shared_ptr< ConcurrentSmoothershared_ptr
 

Public Member Functions

 ConcurrentSmoother ()
 
virtual bool equals (const ConcurrentSmoother &rhs, double tol=1e-9) const =0
 
virtual void getSummarizedFactors (NonlinearFactorGraph &summarizedFactors, Values &separatorValues)=0
 
virtual void postsync ()
 
virtual void presync ()
 
virtual void print (const std::string &s="Concurrent Smoother:\, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const=0
 
virtual void synchronize (const NonlinearFactorGraph &smootherFactors, const Values &smootherValues, const NonlinearFactorGraph &summarizedFactors, const Values &rootValues)=0
 
virtual ~ConcurrentSmoother ()=default
 

Detailed Description

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

Definition at line 101 of file ConcurrentFilteringAndSmoothing.h.

Member Typedef Documentation

◆ shared_ptr

Definition at line 103 of file ConcurrentFilteringAndSmoothing.h.

Constructor & Destructor Documentation

◆ ConcurrentSmoother()

gtsam::ConcurrentSmoother::ConcurrentSmoother ( )
inline

Default constructor

Definition at line 106 of file ConcurrentFilteringAndSmoothing.h.

◆ ~ConcurrentSmoother()

virtual gtsam::ConcurrentSmoother::~ConcurrentSmoother ( )
virtualdefault

Default destructor

Member Function Documentation

◆ equals()

virtual bool gtsam::ConcurrentSmoother::equals ( const ConcurrentSmoother rhs,
double  tol = 1e-9 
) const
pure virtual

Check if two Concurrent Smoothers are equal

Implemented in gtsam::ConcurrentBatchSmoother, and gtsam::ConcurrentIncrementalSmoother.

◆ getSummarizedFactors()

virtual void gtsam::ConcurrentSmoother::getSummarizedFactors ( NonlinearFactorGraph summarizedFactors,
Values separatorValues 
)
pure virtual

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

Parameters
summarizedFactorsThe summarized factors for the filter branch
separatorValuesThe linearization points of the separator variables

Implemented in gtsam::ConcurrentBatchSmoother, and gtsam::ConcurrentIncrementalSmoother.

◆ postsync()

virtual void gtsam::ConcurrentSmoother::postsync ( )
inlinevirtual

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

Reimplemented in gtsam::ConcurrentBatchSmoother, and gtsam::ConcurrentIncrementalSmoother.

Definition at line 150 of file ConcurrentFilteringAndSmoothing.h.

◆ presync()

virtual void gtsam::ConcurrentSmoother::presync ( )
inlinevirtual

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

Reimplemented in gtsam::ConcurrentBatchSmoother, and gtsam::ConcurrentIncrementalSmoother.

Definition at line 123 of file ConcurrentFilteringAndSmoothing.h.

◆ print()

virtual void gtsam::ConcurrentSmoother::print ( )
pure virtual

Implement a standard 'print' function

Implemented in gtsam::ConcurrentBatchSmoother, and gtsam::ConcurrentIncrementalSmoother.

◆ synchronize()

virtual void gtsam::ConcurrentSmoother::synchronize ( const NonlinearFactorGraph smootherFactors,
const Values smootherValues,
const NonlinearFactorGraph summarizedFactors,
const Values rootValues 
)
pure virtual

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

Parameters
smootherFactorsA set of new factors added to the smoother from the filter
smootherValuesLinearization points for any new variables
summarizedFactorsAn updated version of the filter branch summarized factors
rootValuesThe linearization point of the root variables

Implemented in gtsam::ConcurrentBatchSmoother, and gtsam::ConcurrentIncrementalSmoother.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:16