gtsam::ConcurrentFilter Class Reference

#include <ConcurrentFilteringAndSmoothing.h>

Inheritance diagram for gtsam::ConcurrentFilter:

Public Types
typedef std::shared_ptr< ConcurrentFilter >	shared_ptr

Public Member Functions
	ConcurrentFilter ()=default
virtual bool	equals (const ConcurrentFilter &rhs, double tol=1e-9) const =0
virtual void	getSmootherFactors (NonlinearFactorGraph &smootherFactors, Values &smootherValues)=0
virtual void	getSummarizedFactors (NonlinearFactorGraph &summarizedFactors, Values &separatorValues)=0
virtual void	postsync ()
virtual void	presync ()
virtual void	print (const std::string &s="Concurrent Filter:\n", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const =0
virtual void	synchronize (const NonlinearFactorGraph &summarizedFactors, const Values &separatorValues)=0
virtual	~ConcurrentFilter ()=default

Detailed Description

The interface for the 'Filter' portion of the Concurrent Filtering and Smoother architecture.

Definition at line 39 of file ConcurrentFilteringAndSmoothing.h.

Member Typedef Documentation

shared_ptr

typedef std::shared_ptr<ConcurrentFilter> gtsam::ConcurrentFilter::shared_ptr

Definition at line 41 of file ConcurrentFilteringAndSmoothing.h.

Constructor & Destructor Documentation

ConcurrentFilter()

gtsam::ConcurrentFilter::ConcurrentFilter ( )

default

Default constructor

~ConcurrentFilter()

virtual gtsam::ConcurrentFilter::~ConcurrentFilter ( )

virtualdefault

Default destructor

Member Function Documentation

equals()

virtual bool gtsam::ConcurrentFilter::equals ( const ConcurrentFilter &  rhs, double  tol = 1e-9  ) const

pure virtual

Check if two Concurrent Smoothers are equal

Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.

getSmootherFactors()

virtual void gtsam::ConcurrentFilter::getSmootherFactors ( NonlinearFactorGraph &  smootherFactors, Values &  smootherValues  )

pure virtual

Populate the provided containers with factors being sent to the smoother from the filter. These may be original nonlinear factors, or factors encoding a summarization of the filter information. The specifics will be implementation-specific for a given filter.

Parameters

smootherFactors	The new factors to be added to the smoother
smootherValues	The linearization points of any new variables

Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.

getSummarizedFactors()

virtual void gtsam::ConcurrentFilter::getSummarizedFactors ( NonlinearFactorGraph &  summarizedFactors, Values &  separatorValues  )

pure virtual

Populate the provided containers with factors that constitute the filter branch summarization needed by the smoother. Also, linearization points for the new root clique must be provided.

Parameters

summarizedFactors	The summarized factors for the filter branch
separatorValues	The linearization points of the separator variables

Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.

postsync()

virtual void gtsam::ConcurrentFilter::postsync ( )

inlinevirtual

Perform any required operations after the synchronization process finishes. Called by 'synchronize'

Reimplemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.

Definition at line 94 of file ConcurrentFilteringAndSmoothing.h.

presync()

virtual void gtsam::ConcurrentFilter::presync ( )

inlinevirtual

Perform any required operations before the synchronization process starts. Called by 'synchronize'

Reimplemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.

Definition at line 61 of file ConcurrentFilteringAndSmoothing.h.

print()

virtual void gtsam::ConcurrentFilter::print ( const std::string &  s = "Concurrent Filter:\n", const KeyFormatter &  keyFormatter = DefaultKeyFormatter  ) const

pure virtual

Implement a standard 'print' function

Implemented in gtsam::ConcurrentIncrementalFilter, and gtsam::ConcurrentBatchFilter.

synchronize()

virtual void gtsam::ConcurrentFilter::synchronize ( const NonlinearFactorGraph &  summarizedFactors, const Values &  separatorValues  )

pure virtual

Apply the updated version of the smoother branch summarized factors.

Parameters

summarizedFactors	An updated version of the smoother branch summarized factors
separatorValues	The linearization points of the separator variables

Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.

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

• ConcurrentFilteringAndSmoothing.h