gtsam::DeltaImpl Struct Reference

#include <ISAM2-impl.h>

Classes
struct	PartialSolveResult
struct	ReorderingMode

Static Public Member Functions
static VectorValues	ComputeGradientSearch (const VectorValues &gradAtZero, const VectorValues &RgProd)
static size_t	UpdateGaussNewtonDelta (const ISAM2::Roots &roots, const KeySet &replacedKeys, double wildfireThreshold, VectorValues *delta)
static size_t	UpdateRgProd (const ISAM2::Roots &roots, const KeySet &replacedKeys, const VectorValues &gradAtZero, VectorValues *RgProd)

Detailed Description

Definition at line 66 of file ISAM2-impl.h.

Member Function Documentation

ComputeGradientSearch()

VectorValues gtsam::DeltaImpl::ComputeGradientSearch ( const VectorValues &  gradAtZero, const VectorValues &  RgProd  )

static

Compute the gradient-search point. Only used in Dogleg.

Definition at line 145 of file ISAM2-impl.cpp.

UpdateGaussNewtonDelta()

size_t gtsam::DeltaImpl::UpdateGaussNewtonDelta ( const ISAM2::Roots &  roots, const KeySet &  replacedKeys, double  wildfireThreshold, VectorValues *  delta  )

static

Update the Newton's method step point, using wildfire

Definition at line 47 of file ISAM2-impl.cpp.

UpdateRgProd()

size_t gtsam::DeltaImpl::UpdateRgProd ( const ISAM2::Roots &  roots, const KeySet &  replacedKeys, const VectorValues &  gradAtZero, VectorValues *  RgProd  )

static

Update the RgProd (R*g) incrementally taking into account which variables have been recalculated in replacedKeys. Only used in Dogleg.

Definition at line 130 of file ISAM2-impl.cpp.

---

The documentation for this struct was generated from the following files:

• ISAM2-impl.h
• ISAM2-impl.cpp