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62 int reorderInterval = 1,
64 HybridGaussianFactorGraph::EliminationTraitsType::DefaultEliminate)
65 : reorderInterval_(reorderInterval),
89 void prune(
const size_t maxNumberLeaves) { isam_.
prune(maxNumberLeaves); }
103 int reorderInterval()
const {
return reorderInterval_; }
104 int reorderCounter()
const {
return reorderCounter_; }
107 void print(
const std::string&
s =
"",
111 void printStats()
const;
114 void saveGraph(
const std::string&
s,
122 void update(
const HybridNonlinearFactorGraph& newFactors,
123 const Values& initialValues,
124 const std::optional<size_t>& maxNrLeaves = {},
125 const std::optional<Ordering>&
ordering = {});
128 void reorderRelinearize();
Incremental Smoothing and Mapping (ISAM) algorithm for hybrid factor graphs.
void prune(const size_t maxNumberLeaves)
Prune the underlying Bayes tree.
DiscreteValues assignment_
The discrete assignment.
Nonlinear hybrid factor graph that uses type erasure.
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
void print(const Matrix &A, const string &s, ostream &stream)
HybridNonlinearFactorGraph factors_
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
const HybridGaussianISAM & bayesTree() const
const TREE::Eliminate & eliminationFunction
gtsam::HybridGaussianISAM isam_
static enum @1096 ordering
const DiscreteValues & assignment() const
const HybridNonlinearFactorGraph & getFactorsUnsafe() const
std::function< EliminationResult(const FactorGraphType &, const Ordering &)> Eliminate
The function type that does a single dense elimination step on a subgraph.
void prune(const size_t maxNumberLeaves)
Prune the underlying Bayes tree.
const Values & getLinearizationPoint() const
HybridNonlinearISAM(int reorderInterval=1, const HybridGaussianFactorGraph::Eliminate &eliminationFunction=HybridGaussianFactorGraph::EliminationTraitsType::DefaultEliminate)
HybridGaussianFactorGraph::Eliminate eliminationFunction_
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:43