#include <ISAM2Clique.h>

Inheritance diagram for gtsam::ISAM2Clique:

Public Types
typedef BayesTreeCliqueBase< This, GaussianFactorGraph >	Base

typedef GaussianConditional	ConditionalType

typedef std::shared_ptr< This >	shared_ptr

typedef ConditionalType::shared_ptr	sharedConditional

typedef ISAM2Clique	This

typedef std::weak_ptr< This >	weak_ptr

Public Types inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph >
typedef EliminationTraitsType::BayesNetType	BayesNetType

typedef BayesNetType::ConditionalType	ConditionalType

typedef FactorGraphType::Eliminate	Eliminate

typedef GaussianFactorGraph	FactorGraphType

typedef FactorGraphType::FactorType	FactorType

typedef std::shared_ptr< ConditionalType >	sharedConditional

Public Member Functions
void	addGradientAtZero (VectorValues *g) const
	Recursively add gradient at zero to g. More...

Base::FactorType::shared_ptr &	cachedFactor ()

size_t	calculate_nnz () const

bool	equals (const This &other, double tol=1e-9) const

void	findAll (const KeySet &markedMask, KeySet *keys) const

const Vector &	gradientContribution () const
	Access the gradient contribution. More...

	ISAM2Clique ()
	Default constructor. More...

	ISAM2Clique (const ISAM2Clique &other)

void	nnz_internal (size_t *result) const

ISAM2Clique &	operator= (const ISAM2Clique &other)

void	optimizeWildfire (const KeySet &replaced, double threshold, KeySet changed, VectorValues delta, size_t *count) const

bool	optimizeWildfireNode (const KeySet &replaced, double threshold, KeySet changed, VectorValues delta, size_t *count) const

void	print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override

void	setEliminationResult (const FactorGraphType::EliminationResult &eliminationResult)
	Overridden to also store the remaining factor and gradient contribution. More...

Public Member Functions inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph >
void	setEliminationResult (const typename FactorGraphType::EliminationResult &eliminationResult)

bool	equals (const ISAM2Clique &other, double tol=1e-9) const

const sharedConditional &	conditional () const

bool	isRoot () const

size_t	treeSize () const

size_t	numCachedSeparatorMarginals () const

derived_ptr	parent () const

int	problemSize () const

BayesNetType	shortcut (const derived_ptr &root, Eliminate function=EliminationTraitsType::DefaultEliminate) const

FactorGraphType	separatorMarginal (Eliminate function=EliminationTraitsType::DefaultEliminate) const

FactorGraphType	marginal2 (Eliminate function=EliminationTraitsType::DefaultEliminate) const

void	deleteCachedShortcuts ()

const std::optional< FactorGraphType > &	cachedSeparatorMarginal () const

Public Attributes
Base::FactorType::shared_ptr	cachedFactor_

Vector	gradientContribution_

Public Attributes inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph >
FastVector< derived_ptr >	children

sharedConditional	conditional_

bool	is_root

derived_weak_ptr	parent_

int	problemSize_

Private Member Functions
void	fastBackSubstitute (VectorValues *delta) const

bool	isDirty (const KeySet &replaced, const KeySet &changed) const

void	markFrontalsAsChanged (KeySet *changed) const
	Set changed flag for each frontal variable. More...

void	restoreFromOriginals (const Vector &originalValues, VectorValues *delta) const
	Restore delta to original values, guided by frontal keys. More...

bool	valuesChanged (const KeySet &replaced, const Vector &originalValues, const VectorValues &delta, double threshold) const

Additional Inherited Members
Protected Member Functions inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph >
	BayesTreeCliqueBase ()
	Default constructor. More...

	BayesTreeCliqueBase (const sharedConditional &conditional)

	BayesTreeCliqueBase (const BayesTreeCliqueBase &c)
	Shallow copy constructor. More...

BayesTreeCliqueBase &	operator= (const BayesTreeCliqueBase &c)
	Shallow copy assignment constructor. More...

virtual	~BayesTreeCliqueBase ()

KeyVector	separator_setminus_B (const derived_ptr &B) const
	Calculate set $S \setminus B$ for shortcut calculations. More...

KeyVector	shortcut_indices (const derived_ptr &B, const FactorGraphType &p_Cp_B) const

void	deleteCachedShortcutsNonRecursive ()

Protected Attributes inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph >
std::optional< FactorGraphType >	cachedSeparatorMarginal_
	This stores the Cached separator marginal P(S) More...

std::mutex	cachedSeparatorMarginalMutex_

Detailed Description

Specialized Clique structure for ISAM2, incorporating caching and gradient contribution TODO: more documentation

Definition at line 36 of file ISAM2Clique.h.

Member Typedef Documentation

◆ Base

typedef BayesTreeCliqueBase<This, GaussianFactorGraph> gtsam::ISAM2Clique::Base

Definition at line 40 of file ISAM2Clique.h.

◆ ConditionalType

typedef GaussianConditional gtsam::ISAM2Clique::ConditionalType

Definition at line 43 of file ISAM2Clique.h.

◆ shared_ptr

typedef std::shared_ptr<This> gtsam::ISAM2Clique::shared_ptr

Definition at line 41 of file ISAM2Clique.h.

◆ sharedConditional

typedef ConditionalType::shared_ptr gtsam::ISAM2Clique::sharedConditional

Definition at line 44 of file ISAM2Clique.h.

◆ This

typedef ISAM2Clique gtsam::ISAM2Clique::This

Definition at line 39 of file ISAM2Clique.h.

◆ weak_ptr

typedef std::weak_ptr<This> gtsam::ISAM2Clique::weak_ptr

Definition at line 42 of file ISAM2Clique.h.

Constructor & Destructor Documentation

◆ ISAM2Clique() [1/2]

gtsam::ISAM2Clique::ISAM2Clique ( )

inline

Default constructor.

Definition at line 53 of file ISAM2Clique.h.

◆ ISAM2Clique() [2/2]

gtsam::ISAM2Clique::ISAM2Clique ( const ISAM2Clique & other )

inline

Copy constructor, does not copy solution pointers as these are invalid in different trees.

Definition at line 57 of file ISAM2Clique.h.

Member Function Documentation

◆ addGradientAtZero()

void gtsam::ISAM2Clique::addGradientAtZero ( VectorValues * g ) const

Recursively add gradient at zero to g.

Definition at line 327 of file ISAM2Clique.cpp.

◆ cachedFactor()

Base::FactorType::shared_ptr& gtsam::ISAM2Clique::cachedFactor ( )

inline

Access the cached factor

Definition at line 76 of file ISAM2Clique.h.

◆ calculate_nnz()

size_t gtsam::ISAM2Clique::calculate_nnz ( ) const

Definition at line 298 of file ISAM2Clique.cpp.

◆ equals()

bool gtsam::ISAM2Clique::equals	(	const This &	other,
		double	tol = `1e-9`
	)		const

Definition at line 48 of file ISAM2Clique.cpp.

◆ fastBackSubstitute()

void gtsam::ISAM2Clique::fastBackSubstitute ( VectorValues * delta ) const

private

Back-substitute - special version stores solution pointers in cliques for fast access.

Definition at line 97 of file ISAM2Clique.cpp.

◆ findAll()

void gtsam::ISAM2Clique::findAll	(	const KeySet &	markedMask,
		KeySet *	keys
	)		const

Recursively search this clique and its children for marked keys appearing in the separator, and add the frontal keys of any cliques whose separator contains any marked keys to the set keys. The purpose of this is to discover the cliques that need to be redone due to information propagating to them from cliques that directly contain factors being relinearized.

The original comment says this finds all variables directly connected to the marked ones by measurements. Is this true, because it seems like this would also pull in variables indirectly connected through other frontal or separator variables?

Alternatively could we trace up towards the root for each variable here?

Definition at line 305 of file ISAM2Clique.cpp.

◆ gradientContribution()

const Vector& gtsam::ISAM2Clique::gradientContribution ( ) const

inline

Access the gradient contribution.

Definition at line 79 of file ISAM2Clique.h.

◆ isDirty()

bool gtsam::ISAM2Clique::isDirty	(	const KeySet &	replaced,
		const KeySet &	changed
	)		const

private

Check if clique was replaced, or if any parents were changed above the threshold or themselves replaced.

Definition at line 67 of file ISAM2Clique.cpp.

◆ markFrontalsAsChanged()

void gtsam::ISAM2Clique::markFrontalsAsChanged ( KeySet * changed ) const

private

Set changed flag for each frontal variable.

Definition at line 183 of file ISAM2Clique.cpp.

◆ nnz_internal()

void gtsam::ISAM2Clique::nnz_internal ( size_t * result ) const

Starting from the root, add up entries of frontal and conditional matrices of each conditional

Definition at line 287 of file ISAM2Clique.cpp.

◆ operator=()

ISAM2Clique& gtsam::ISAM2Clique::operator= ( const ISAM2Clique & other )

inline

Assignment operator, does not copy solution pointers as these are invalid in different trees.

Definition at line 64 of file ISAM2Clique.h.

◆ optimizeWildfire()

void gtsam::ISAM2Clique::optimizeWildfire	(	const KeySet &	replaced,
		double	threshold,
		KeySet *	changed,
		VectorValues *	delta,
		size_t *	count
	)		const

Definition at line 202 of file ISAM2Clique.cpp.

◆ optimizeWildfireNode()

bool gtsam::ISAM2Clique::optimizeWildfireNode	(	const KeySet &	replaced,
		double	threshold,
		KeySet *	changed,
		VectorValues *	delta,
		size_t *	count
	)		const

Definition at line 236 of file ISAM2Clique.cpp.

◆ print()

void gtsam::ISAM2Clique::print	(	const std::string &	s = `""`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print this node

Reimplemented from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph >.

Definition at line 56 of file ISAM2Clique.cpp.

◆ restoreFromOriginals()

void gtsam::ISAM2Clique::restoreFromOriginals	(	const Vector &	originalValues,
		VectorValues *	delta
	)		const

private

Restore delta to original values, guided by frontal keys.

Definition at line 190 of file ISAM2Clique.cpp.

◆ setEliminationResult()

void gtsam::ISAM2Clique::setEliminationResult ( const FactorGraphType::EliminationResult & eliminationResult )

Overridden to also store the remaining factor and gradient contribution.

Definition at line 34 of file ISAM2Clique.cpp.

◆ valuesChanged()

bool gtsam::ISAM2Clique::valuesChanged	(	const KeySet &	replaced,
		const Vector &	originalValues,
		const VectorValues &	delta,
		double	threshold
	)		const

private

Definition at line 171 of file ISAM2Clique.cpp.

Member Data Documentation

◆ cachedFactor_

Base::FactorType::shared_ptr gtsam::ISAM2Clique::cachedFactor_

Definition at line 46 of file ISAM2Clique.h.

◆ gradientContribution_

Vector gtsam::ISAM2Clique::gradientContribution_

Definition at line 47 of file ISAM2Clique.h.

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

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ ConditionalType

◆ shared_ptr

◆ sharedConditional

◆ This

◆ weak_ptr

Constructor & Destructor Documentation

◆ ISAM2Clique() [1/2]

◆ ISAM2Clique() [2/2]

Member Function Documentation

◆ addGradientAtZero()

◆ cachedFactor()

◆ calculate_nnz()

◆ equals()

◆ fastBackSubstitute()

◆ findAll()

◆ gradientContribution()

◆ isDirty()

◆ markFrontalsAsChanged()

◆ nnz_internal()

◆ operator=()

◆ optimizeWildfire()

◆ optimizeWildfireNode()

◆ print()

◆ restoreFromOriginals()

◆ setEliminationResult()

◆ valuesChanged()

Member Data Documentation

◆ cachedFactor_

◆ gradientContribution_