Classes | Static Public Member Functions | List of all members
gtsam::DeltaImpl Struct Reference

#include <ISAM2-impl.h>

Classes

struct  PartialSolveResult
 
struct  ReorderingMode
 

Static Public Member Functions

static VectorValues ComputeGradientSearch (const VectorValues &gradAtZero, const VectorValues &RgProd)
 
static size_t UpdateGaussNewtonDelta (const ISAM2::Roots &roots, const KeySet &replacedKeys, double wildfireThreshold, VectorValues *delta)
 
static size_t UpdateRgProd (const ISAM2::Roots &roots, const KeySet &replacedKeys, const VectorValues &gradAtZero, VectorValues *RgProd)
 

Detailed Description

Definition at line 66 of file ISAM2-impl.h.

Member Function Documentation

◆ ComputeGradientSearch()

VectorValues gtsam::DeltaImpl::ComputeGradientSearch ( const VectorValues gradAtZero,
const VectorValues RgProd 
)
static

Compute the gradient-search point. Only used in Dogleg.

Definition at line 145 of file ISAM2-impl.cpp.

◆ UpdateGaussNewtonDelta()

size_t gtsam::DeltaImpl::UpdateGaussNewtonDelta ( const ISAM2::Roots roots,
const KeySet replacedKeys,
double  wildfireThreshold,
VectorValues delta 
)
static

Update the Newton's method step point, using wildfire

Definition at line 47 of file ISAM2-impl.cpp.

◆ UpdateRgProd()

size_t gtsam::DeltaImpl::UpdateRgProd ( const ISAM2::Roots roots,
const KeySet replacedKeys,
const VectorValues gradAtZero,
VectorValues RgProd 
)
static

Update the RgProd (R*g) incrementally taking into account which variables have been recalculated in replacedKeys. Only used in Dogleg.

Definition at line 130 of file ISAM2-impl.cpp.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:17