#include <FixedLagSmoother.h>
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struct | Result |
Public Types | |
typedef std::map< Key, double > | KeyTimestampMap |
Typedef for a Key-Timestamp map/database. More... | |
typedef std::shared_ptr< FixedLagSmoother > | shared_ptr |
Typedef for a shared pointer to an Incremental Fixed-Lag Smoother. More... | |
typedef std::multimap< double, Key > | TimestampKeyMap |
Public Member Functions | |
virtual Values | calculateEstimate () const =0 |
virtual bool | equals (const FixedLagSmoother &rhs, double tol=1e-9) const |
FixedLagSmoother (double smootherLag=0.0) | |
virtual void | print (const std::string &s="FixedLagSmoother:\n", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
double & | smootherLag () |
double | smootherLag () const |
const KeyTimestampMap & | timestamps () const |
virtual Result | update (const NonlinearFactorGraph &newFactors=NonlinearFactorGraph(), const Values &newTheta=Values(), const KeyTimestampMap ×tamps=KeyTimestampMap(), const FactorIndices &factorsToRemove=FactorIndices())=0 |
virtual | ~FixedLagSmoother () |
Protected Member Functions | |
void | eraseKeyTimestampMap (const KeyVector &keys) |
KeyVector | findKeysAfter (double timestamp) const |
KeyVector | findKeysBefore (double timestamp) const |
double | getCurrentTimestamp () const |
void | updateKeyTimestampMap (const KeyTimestampMap &newTimestamps) |
Protected Attributes | |
KeyTimestampMap | keyTimestampMap_ |
double | smootherLag_ |
TimestampKeyMap | timestampKeyMap_ |
Definition at line 33 of file nonlinear/FixedLagSmoother.h.
typedef std::map<Key, double> gtsam::FixedLagSmoother::KeyTimestampMap |
Typedef for a Key-Timestamp map/database.
Definition at line 41 of file nonlinear/FixedLagSmoother.h.
typedef std::shared_ptr<FixedLagSmoother> gtsam::FixedLagSmoother::shared_ptr |
Typedef for a shared pointer to an Incremental Fixed-Lag Smoother.
Definition at line 38 of file nonlinear/FixedLagSmoother.h.
typedef std::multimap<double, Key> gtsam::FixedLagSmoother::TimestampKeyMap |
Definition at line 42 of file nonlinear/FixedLagSmoother.h.
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default constructor
Definition at line 66 of file nonlinear/FixedLagSmoother.h.
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destructor
Definition at line 69 of file nonlinear/FixedLagSmoother.h.
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Compute an estimate from the incomplete linear delta computed during the last update. This delta is incomplete because it was not updated below wildfire_threshold. If only a single variable is needed, it is faster to call calculateEstimate(const KEY&).
Implemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.
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Check if two IncrementalFixedLagSmoother Objects are equal
Reimplemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.
Definition at line 40 of file FixedLagSmoother.cpp.
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Erase keys from the Key-Timestamps database
Definition at line 76 of file FixedLagSmoother.cpp.
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Find all of the keys associated with timestamps before the provided time
Definition at line 114 of file FixedLagSmoother.cpp.
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Find all of the keys associated with timestamps before the provided time
Definition at line 104 of file FixedLagSmoother.cpp.
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Find the most recent timestamp of the system
Definition at line 95 of file FixedLagSmoother.cpp.
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Print the factor for debugging and testing (implementing Testable)
Reimplemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.
Definition at line 34 of file FixedLagSmoother.cpp.
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write to the current smoother lag
Definition at line 85 of file nonlinear/FixedLagSmoother.h.
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read the current smoother lag
Definition at line 80 of file nonlinear/FixedLagSmoother.h.
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Access the current set of timestamps associated with each variable
Definition at line 90 of file nonlinear/FixedLagSmoother.h.
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pure virtual |
Add new factors, updating the solution and relinearizing as needed.
Implemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.
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Update the Timestamps associated with the keys
Definition at line 46 of file FixedLagSmoother.cpp.
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Definition at line 114 of file nonlinear/FixedLagSmoother.h.
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The length of the smoother lag. Any variable older than this amount will be marginalized out.
Definition at line 110 of file nonlinear/FixedLagSmoother.h.
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The current timestamp associated with each tracked key
Definition at line 113 of file nonlinear/FixedLagSmoother.h.