gtsam::ISAM< BAYESTREE > Class Template Reference

#include <ISAM.h>

Inheritance diagram for gtsam::ISAM< BAYESTREE >:

Public Types
typedef BAYESTREE	Base
typedef Base::BayesNetType	BayesNetType
typedef Base::Clique	Clique
typedef Base::Cliques	Cliques
typedef Base::FactorGraphType	FactorGraphType
typedef Base::sharedClique	sharedClique

Private Types
typedef Base::Eliminate	Eliminate
typedef Base::EliminationTraitsType	EliminationTraitsType

Standard Constructors
	ISAM ()
	ISAM (const Base &bayesTree)

Advanced Interface Interface
void	update (const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
void	updateInternal (const FactorGraphType &newFactors, Cliques *orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate)

Detailed Description

template<class BAYESTREE>
class gtsam::ISAM< BAYESTREE >

A Bayes tree with an update methods that implements the iSAM algorithm. Given a set of new factors, it re-eliminates the invalidated part of the tree.

Definition at line 31 of file ISAM.h.

Member Typedef Documentation

Base

template<class BAYESTREE>

typedef BAYESTREE gtsam::ISAM< BAYESTREE >::Base

Definition at line 33 of file ISAM.h.

BayesNetType

template<class BAYESTREE>

typedef Base::BayesNetType gtsam::ISAM< BAYESTREE >::BayesNetType

Definition at line 34 of file ISAM.h.

Clique

template<class BAYESTREE>

typedef Base::Clique gtsam::ISAM< BAYESTREE >::Clique

Definition at line 36 of file ISAM.h.

Cliques

template<class BAYESTREE>

typedef Base::Cliques gtsam::ISAM< BAYESTREE >::Cliques

Definition at line 38 of file ISAM.h.

Eliminate

template<class BAYESTREE>

typedef Base::Eliminate gtsam::ISAM< BAYESTREE >::Eliminate

private

Definition at line 41 of file ISAM.h.

EliminationTraitsType

template<class BAYESTREE>

typedef Base::EliminationTraitsType gtsam::ISAM< BAYESTREE >::EliminationTraitsType

private

Definition at line 42 of file ISAM.h.

FactorGraphType

template<class BAYESTREE>

typedef Base::FactorGraphType gtsam::ISAM< BAYESTREE >::FactorGraphType

Definition at line 35 of file ISAM.h.

sharedClique

template<class BAYESTREE>

typedef Base::sharedClique gtsam::ISAM< BAYESTREE >::sharedClique

Definition at line 37 of file ISAM.h.

Constructor & Destructor Documentation

ISAM() [1/2]

template<class BAYESTREE>

gtsam::ISAM< BAYESTREE >::ISAM ( )

inline

Create an empty Bayes Tree

Definition at line 49 of file ISAM.h.

ISAM() [2/2]

template<class BAYESTREE>

gtsam::ISAM< BAYESTREE >::ISAM ( const Base &  bayesTree )

inlineexplicit

Copy constructor

Definition at line 52 of file ISAM.h.

Member Function Documentation

update()

template<class BAYESTREE >

void gtsam::ISAM< BAYESTREE >::update	(	const FactorGraphType &	newFactors,
		const Eliminate &	function = EliminationTraitsType::DefaultEliminate
	)

update the Bayes tree with a set of new factors, typically derived from measurements

Parameters

newFactors	is a factor graph that contains the new factors
function	an elimination routine

Definition at line 62 of file ISAM-inst.h.

updateInternal()

template<class BAYESTREE >

void gtsam::ISAM< BAYESTREE >::updateInternal	(	const FactorGraphType &	newFactors,
		Cliques *	orphans,
		const Eliminate &	function = EliminationTraitsType::DefaultEliminate
	)

updateInternal provides access to list of orphans for drawing purposes

Definition at line 27 of file ISAM-inst.h.

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

• ISAM.h
• ISAM-inst.h