#include <FixedLagSmoother.h>
Classes | |
| struct | Result |
Public Types | |
| typedef std::map< Key, double > | KeyTimestampMap |
| Typedef for a Key-Timestamp map/database. More... | |
| typedef std::shared_ptr< FixedLagSmoother > | shared_ptr |
| Typedef for a shared pointer to an Incremental Fixed-Lag Smoother. More... | |
| typedef std::multimap< double, Key > | TimestampKeyMap |
Public Member Functions | |
| virtual Values | calculateEstimate () const =0 |
| virtual bool | equals (const FixedLagSmoother &rhs, double tol=1e-9) const |
| FixedLagSmoother (double smootherLag=0.0) | |
| virtual void | print (const std::string &s="FixedLagSmoother:\, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| double | smootherLag () const |
| double & | smootherLag () |
| const KeyTimestampMap & | timestamps () const |
| virtual Result | update (const NonlinearFactorGraph &newFactors=NonlinearFactorGraph(), const Values &newTheta=Values(), const KeyTimestampMap ×tamps=KeyTimestampMap(), const FactorIndices &factorsToRemove=FactorIndices())=0 |
| virtual | ~FixedLagSmoother () |
Protected Member Functions | |
| void | eraseKeyTimestampMap (const KeyVector &keys) |
| KeyVector | findKeysAfter (double timestamp) const |
| KeyVector | findKeysBefore (double timestamp) const |
| double | getCurrentTimestamp () const |
| void | updateKeyTimestampMap (const KeyTimestampMap &newTimestamps) |
Protected Attributes | |
| KeyTimestampMap | keyTimestampMap_ |
| double | smootherLag_ |
| TimestampKeyMap | timestampKeyMap_ |
Detailed Description
Definition at line 33 of file nonlinear/FixedLagSmoother.h.
Member Typedef Documentation
◆ KeyTimestampMap
| typedef std::map<Key, double> gtsam::FixedLagSmoother::KeyTimestampMap |
Typedef for a Key-Timestamp map/database.
Definition at line 41 of file nonlinear/FixedLagSmoother.h.
◆ shared_ptr
| typedef std::shared_ptr<FixedLagSmoother> gtsam::FixedLagSmoother::shared_ptr |
Typedef for a shared pointer to an Incremental Fixed-Lag Smoother.
Definition at line 38 of file nonlinear/FixedLagSmoother.h.
◆ TimestampKeyMap
| typedef std::multimap<double, Key> gtsam::FixedLagSmoother::TimestampKeyMap |
Definition at line 42 of file nonlinear/FixedLagSmoother.h.
Constructor & Destructor Documentation
◆ FixedLagSmoother()
|
inline |
default constructor
Definition at line 66 of file nonlinear/FixedLagSmoother.h.
◆ ~FixedLagSmoother()
|
inlinevirtual |
destructor
Definition at line 69 of file nonlinear/FixedLagSmoother.h.
Member Function Documentation
◆ calculateEstimate()
|
pure virtual |
Compute an estimate from the incomplete linear delta computed during the last update. This delta is incomplete because it was not updated below wildfire_threshold. If only a single variable is needed, it is faster to call calculateEstimate(const KEY&).
Implemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.
◆ equals()
|
virtual |
Check if two IncrementalFixedLagSmoother Objects are equal
Reimplemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.
Definition at line 40 of file FixedLagSmoother.cpp.
◆ eraseKeyTimestampMap()
|
protected |
Erase keys from the Key-Timestamps database
Definition at line 76 of file FixedLagSmoother.cpp.
◆ findKeysAfter()
|
protected |
Find all of the keys associated with timestamps before the provided time
Definition at line 114 of file FixedLagSmoother.cpp.
◆ findKeysBefore()
|
protected |
Find all of the keys associated with timestamps before the provided time
Definition at line 104 of file FixedLagSmoother.cpp.
◆ getCurrentTimestamp()
|
protected |
Find the most recent timestamp of the system
Definition at line 95 of file FixedLagSmoother.cpp.
◆ print()
|
virtual |
Print the factor for debugging and testing (implementing Testable)
Reimplemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.
Definition at line 34 of file FixedLagSmoother.cpp.
◆ smootherLag() [1/2]
|
inline |
read the current smoother lag
Definition at line 80 of file nonlinear/FixedLagSmoother.h.
◆ smootherLag() [2/2]
|
inline |
write to the current smoother lag
Definition at line 85 of file nonlinear/FixedLagSmoother.h.
◆ timestamps()
|
inline |
Access the current set of timestamps associated with each variable
Definition at line 90 of file nonlinear/FixedLagSmoother.h.
◆ update()
|
pure virtual |
Add new factors, updating the solution and relinearizing as needed.
Implemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.
◆ updateKeyTimestampMap()
|
protected |
Update the Timestamps associated with the keys
Definition at line 46 of file FixedLagSmoother.cpp.
Member Data Documentation
◆ keyTimestampMap_
|
protected |
Definition at line 114 of file nonlinear/FixedLagSmoother.h.
◆ smootherLag_
|
protected |
The length of the smoother lag. Any variable older than this amount will be marginalized out.
Definition at line 110 of file nonlinear/FixedLagSmoother.h.
◆ timestampKeyMap_
|
protected |
The current timestamp associated with each tracked key
Definition at line 113 of file nonlinear/FixedLagSmoother.h.
The documentation for this class was generated from the following files: