#include <NonlinearISAM.h>
Public Member Functions | |
Standard Constructors | |
NonlinearISAM (int reorderInterval=1, const GaussianFactorGraph::Eliminate &eliminationFunction=GaussianFactorGraph::EliminationTraitsType::DefaultEliminate) | |
Standard Interface | |
Values | estimate () const |
Matrix | marginalCovariance (Key key) const |
const GaussianISAM & | bayesTree () const |
const Values & | getLinearizationPoint () const |
const NonlinearFactorGraph & | getFactorsUnsafe () const |
void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
void | printStats () const |
void | saveGraph (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
Advanced Interface | |
void | update (const NonlinearFactorGraph &newFactors, const Values &initialValues) |
void | reorder_relinearize () |
Protected Attributes | |
GaussianFactorGraph::Eliminate | eliminationFunction_ |
NonlinearFactorGraph | factors_ |
gtsam::GaussianISAM | isam_ |
Values | linPoint_ |
int | reorderCounter_ |
int | reorderInterval_ |
Wrapper class to manage ISAM in a nonlinear context
Definition at line 27 of file NonlinearISAM.h.
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inline |
Periodically reorder and relinearize
reorderInterval | is the number of updates between reorderings, 0 never reorders (and is dangerous for memory consumption) 1 (default) reorders every time, in worse case is batch every update typical values are 50 or 100 |
Definition at line 58 of file NonlinearISAM.h.
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inline |
access the underlying bayes tree
Definition at line 75 of file NonlinearISAM.h.
Values gtsam::NonlinearISAM::estimate | ( | ) | const |
Return the current solution estimate
Definition at line 80 of file NonlinearISAM.cpp.
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inline |
get underlying nonlinear graph
Definition at line 81 of file NonlinearISAM.h.
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inline |
Return the current linearization point
Definition at line 78 of file NonlinearISAM.h.
find the marginal covariance for a single variable
Definition at line 88 of file NonlinearISAM.cpp.
void gtsam::NonlinearISAM::print | ( | const std::string & | s = "" , |
const KeyFormatter & | keyFormatter = DefaultKeyFormatter |
||
) | const |
prints out all contents of the system
Definition at line 93 of file NonlinearISAM.cpp.
void gtsam::NonlinearISAM::printStats | ( | ) | const |
prints out clique statistics
Definition at line 101 of file NonlinearISAM.cpp.
void gtsam::NonlinearISAM::reorder_relinearize | ( | ) |
Relinearization and reordering of variables
Definition at line 59 of file NonlinearISAM.cpp.
void gtsam::NonlinearISAM::saveGraph | ( | const std::string & | s, |
const KeyFormatter & | keyFormatter = DefaultKeyFormatter |
||
) | const |
saves the Tree to a text file in GraphViz format
Definition at line 30 of file NonlinearISAM.cpp.
void gtsam::NonlinearISAM::update | ( | const NonlinearFactorGraph & | newFactors, |
const Values & | initialValues | ||
) |
Add new factors along with their initial linearization points
Definition at line 35 of file NonlinearISAM.cpp.
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protected |
The elimination function
Definition at line 44 of file NonlinearISAM.h.
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protected |
The original factors, used when relinearizing
Definition at line 37 of file NonlinearISAM.h.
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protected |
The internal iSAM object
Definition at line 31 of file NonlinearISAM.h.
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protected |
The current linearization point
Definition at line 34 of file NonlinearISAM.h.
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protected |
Definition at line 41 of file NonlinearISAM.h.
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protected |
The reordering interval and counter
Definition at line 40 of file NonlinearISAM.h.