Public Types | Private Types | List of all members
gtsam::ISAM< BAYESTREE > Class Template Reference

#include <ISAM.h>

Inheritance diagram for gtsam::ISAM< BAYESTREE >:
Inheritance graph
[legend]

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
newFactorsis a factor graph that contains the new factors
functionan 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.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:21