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Examples
gtsam
nonlinear
ISAM2UpdateParams.h
Go to the documentation of this file.
1
/* ----------------------------------------------------------------------------
2
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
3
* Atlanta, Georgia 30332-0415
4
* All Rights Reserved
5
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
6
* See LICENSE for the license information
7
* -------------------------------------------------------------------------- */
8
15
// \callgraph
16
17
#pragma once
18
19
#include <
gtsam/base/FastList.h
>
20
#include <gtsam/dllexport.h>
// GTSAM_EXPORT
21
#include <
gtsam/inference/Key.h
>
// Key, KeySet
22
#include <
gtsam/nonlinear/ISAM2Result.h
>
//FactorIndices
23
#include <optional>
24
25
namespace
gtsam
{
26
32
struct
ISAM2UpdateParams
{
33
ISAM2UpdateParams
() =
default
;
34
36
FactorIndices
removeFactorIndices
;
37
40
std::optional<FastMap<Key, int>>
constrainedKeys
;
41
44
std::optional<FastList<Key>>
noRelinKeys
;
45
49
std::optional<FastList<Key>>
extraReelimKeys
;
50
54
bool
force_relinearize
{
false
};
55
66
std::optional<FastMap<FactorIndex, KeySet>>
newAffectedKeys
;
67
71
bool
forceFullSolve
{
false
};
72
};
73
74
}
// namespace gtsam
gtsam::ISAM2UpdateParams::extraReelimKeys
std::optional< FastList< Key > > extraReelimKeys
Definition:
ISAM2UpdateParams.h:49
gtsam::ISAM2UpdateParams::noRelinKeys
std::optional< FastList< Key > > noRelinKeys
Definition:
ISAM2UpdateParams.h:44
gtsam::ISAM2UpdateParams::constrainedKeys
std::optional< FastMap< Key, int > > constrainedKeys
Definition:
ISAM2UpdateParams.h:40
Key.h
gtsam::ISAM2UpdateParams::force_relinearize
bool force_relinearize
Definition:
ISAM2UpdateParams.h:54
ISAM2Result.h
Class that stores detailed iSAM2 result.
gtsam
traits
Definition:
SFMdata.h:40
gtsam::ISAM2UpdateParams
Definition:
ISAM2UpdateParams.h:32
gtsam::ISAM2UpdateParams::ISAM2UpdateParams
ISAM2UpdateParams()=default
FastList.h
A thin wrapper around std::list that uses boost's fast_pool_allocator.
gtsam::ISAM2UpdateParams::forceFullSolve
bool forceFullSolve
Definition:
ISAM2UpdateParams.h:71
gtsam::ISAM2UpdateParams::newAffectedKeys
std::optional< FastMap< FactorIndex, KeySet > > newAffectedKeys
Definition:
ISAM2UpdateParams.h:66
gtsam::ISAM2UpdateParams::removeFactorIndices
FactorIndices removeFactorIndices
Definition:
ISAM2UpdateParams.h:36
gtsam::FactorIndices
FastVector< FactorIndex > FactorIndices
Define collection types:
Definition:
Factor.h:37
gtsam
Author(s):
autogenerated on Tue Jan 7 2025 04:02:30