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34 typedef std::shared_ptr<BatchFixedLagSmoother>
shared_ptr;
52 const KeyTimestampMap& timestamps = KeyTimestampMap(),
158 void removeFactors(
const std::set<size_t>& deleteFactors);
170 void marginalize(
const KeyVector& marginalizableKeys);
174 static void PrintKeySet(
const std::set<Key>&
keys,
const std::string& label);
std::shared_ptr< This > shared_ptr
LevenbergMarquardtParams parameters_
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Point3 optimize(const NonlinearFactorGraph &graph, const Values &values, Key landmarkKey)
A nonlinear optimizer that uses the Levenberg-Marquardt trust-region scheme.
const LevenbergMarquardtParams & params() const
std::queue< size_t > availableSlots_
VALUE calculateEstimate(Key key) const
LevenbergMarquardtParams & params()
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
std::pair< std::shared_ptr< GaussianConditional >, std::shared_ptr< GaussianFactor > > EliminatePreferCholesky(const GaussianFactorGraph &factors, const Ordering &keys)
const Ordering & getOrdering() const
void print(const Matrix &A, const string &s, ostream &stream)
Values retract(const VectorValues &delta) const
const Values & getLinearizationPoint() const
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
static ConjugateGradientParameters parameters
std::shared_ptr< This > shared_ptr
shared_ptr to this class
const NonlinearFactorGraph & getFactors() const
const gtsam::Symbol key('X', 0)
Base class for a fixed-lag smoother. This mimics the basic interface to iSAM2.
std::vector< float > Values
~BatchFixedLagSmoother() override
std::map< Key, std::set< Key > > FactorIndex
const VectorValues & getDelta() const
std::function< EliminationResult(const FactorGraphType &, const Ordering &)> Eliminate
The function type that does a single dense elimination step on a subgraph.
Values calculateEstimate() const override
std::shared_ptr< BatchFixedLagSmoother > shared_ptr
Typedef for a shared pointer to an Incremental Fixed-Lag Smoother.
NonlinearFactorGraph factors_
NonlinearFactorGraph graph
std::uint64_t Key
Integer nonlinear key type.
void PrintKeySet(const KeySet &keys, const string &s, const KeyFormatter &keyFormatter)
Utility function to print sets of keys with optional prefix.
BatchFixedLagSmoother(double smootherLag=0.0, const LevenbergMarquardtParams ¶meters=LevenbergMarquardtParams(), bool enforceConsistency=true)
FastVector< FactorIndex > FactorIndices
Define collection types:
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:00