#include <ISAM.h>
Public Types | |
typedef BAYESTREE | Base |
typedef Base::BayesNetType | BayesNetType |
typedef Base::Clique | Clique |
typedef Base::Cliques | Cliques |
typedef Base::FactorGraphType | FactorGraphType |
typedef Base::sharedClique | sharedClique |
Private Types | |
typedef Base::Eliminate | Eliminate |
typedef Base::EliminationTraitsType | EliminationTraitsType |
Standard Constructors | |
ISAM () | |
ISAM (const Base &bayesTree) | |
Advanced Interface Interface | |
void | update (const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate) |
void | updateInternal (const FactorGraphType &newFactors, Cliques *orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate) |
A Bayes tree with an update methods that implements the iSAM algorithm. Given a set of new factors, it re-eliminates the invalidated part of the tree.
typedef BAYESTREE gtsam::ISAM< BAYESTREE >::Base |
typedef Base::BayesNetType gtsam::ISAM< BAYESTREE >::BayesNetType |
typedef Base::Clique gtsam::ISAM< BAYESTREE >::Clique |
typedef Base::Cliques gtsam::ISAM< BAYESTREE >::Cliques |
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private |
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private |
typedef Base::FactorGraphType gtsam::ISAM< BAYESTREE >::FactorGraphType |
typedef Base::sharedClique gtsam::ISAM< BAYESTREE >::sharedClique |
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inline |
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inlineexplicit |
void gtsam::ISAM< BAYESTREE >::update | ( | const FactorGraphType & | newFactors, |
const Eliminate & | function = EliminationTraitsType::DefaultEliminate |
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update the Bayes tree with a set of new factors, typically derived from measurements
newFactors | is a factor graph that contains the new factors |
function | an elimination routine |
Definition at line 62 of file ISAM-inst.h.
void gtsam::ISAM< BAYESTREE >::updateInternal | ( | const FactorGraphType & | newFactors, |
Cliques * | orphans, | ||
const Eliminate & | function = EliminationTraitsType::DefaultEliminate |
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) |
updateInternal provides access to list of orphans for drawing purposes
Definition at line 27 of file ISAM-inst.h.