#include <ISAM2-impl.h>

Public Member Functions
void	augmentVariableIndex (const NonlinearFactorGraph &newFactors, const FactorIndices &newFactorsIndices, VariableIndex *variableIndex) const

void	computeUnusedKeys (const NonlinearFactorGraph &newFactors, const VariableIndex &variableIndex, const KeySet &keysWithRemovedFactors, KeySet *unusedKeys) const

void	error (const NonlinearFactorGraph &nonlinearFactors, const Values &estimate, boost::optional< double > *result) const

void	findFluid (const ISAM2::Roots &roots, const KeySet &relinKeys, KeySet markedKeys, ISAM2Result::DetailedResults detail) const

void	gatherInvolvedKeys (const NonlinearFactorGraph &newFactors, const NonlinearFactorGraph &nonlinearFactors, const KeySet &keysWithRemovedFactors, KeySet *markedKeys) const

KeySet	gatherRelinearizeKeys (const ISAM2::Roots &roots, const VectorValues &delta, const KeySet &fixedVariables, KeySet *markedKeys) const

void	linearizeNewFactors (const NonlinearFactorGraph &newFactors, const Values &theta, size_t numNonlinearFactors, const FactorIndices &newFactorsIndices, GaussianFactorGraph *linearFactors) const

void	pushBackFactors (const NonlinearFactorGraph &newFactors, NonlinearFactorGraph nonlinearFactors, GaussianFactorGraph linearFactors, VariableIndex variableIndex, FactorIndices newFactorsIndices, KeySet *keysWithRemovedFactors) const

void	recordRelinearizeDetail (const KeySet &relinKeys, ISAM2Result::DetailedResults *detail) const

bool	relinarizationNeeded (size_t update_count) const

	UpdateImpl (const ISAM2Params &params, const ISAM2UpdateParams &updateParams)

void	updateKeys (const KeySet &markedKeys, ISAM2Result *result) const

Static Public Member Functions
static KeySet	CheckRelinearizationFull (const VectorValues &delta, const ISAM2Params::RelinearizationThreshold &relinearizeThreshold)

static KeySet	CheckRelinearizationPartial (const ISAM2::Roots &roots, const VectorValues &delta, const ISAM2Params::RelinearizationThreshold &relinearizeThreshold)

static void	CheckRelinearizationRecursiveDouble (double threshold, const VectorValues &delta, const ISAM2::sharedClique &clique, KeySet *relinKeys)

static void	CheckRelinearizationRecursiveMap (const FastMap< char, Vector > &thresholds, const VectorValues &delta, const ISAM2::sharedClique &clique, KeySet *relinKeys)

static void	ExpmapMasked (const VectorValues &delta, const KeySet &mask, Values *theta)

static FactorIndexSet	GetAffectedFactors (const KeyList &keys, const VariableIndex &variableIndex)

static GaussianFactorGraph	GetCachedBoundaryFactors (const ISAM2::Cliques &orphans)

static void	LogRecalculateKeys (const ISAM2Result &result)

static void	LogStartingUpdate (const NonlinearFactorGraph &newFactors, const ISAM2 &isam2)

Public Attributes
const ISAM2Params &	params_

const ISAM2UpdateParams &	updateParams_

Detailed Description

Implementation functions for update method All of the methods below have clear inputs and outputs, even if not functional: iSAM2 is inherintly imperative.

Definition at line 114 of file ISAM2-impl.h.

Constructor & Destructor Documentation

gtsam::UpdateImpl::UpdateImpl	(	const ISAM2Params &	params,
		const ISAM2UpdateParams &	updateParams
	)

inline

Definition at line 117 of file ISAM2-impl.h.

Member Function Documentation

void gtsam::UpdateImpl::augmentVariableIndex	(	const NonlinearFactorGraph &	newFactors,
		const FactorIndices &	newFactorsIndices,
		VariableIndex *	variableIndex
	)		const

inline

Definition at line 486 of file ISAM2-impl.h.

static KeySet gtsam::UpdateImpl::CheckRelinearizationFull	(	const VectorValues &	delta,
		const ISAM2Params::RelinearizationThreshold &	relinearizeThreshold
	)

inlinestatic

Find the set of variables to be relinearized according to relinearizeThreshold. Any variables in the VectorValues delta whose vector magnitude is greater than or equal to relinearizeThreshold are returned.

Parameters

delta	The linear delta to check against the threshold
keyFormatter	Formatter for printing nonlinear keys during debugging

Returns: The set of variable indices in delta whose magnitude is greater than or equal to relinearizeThreshold

Definition at line 345 of file ISAM2-impl.h.

static KeySet gtsam::UpdateImpl::CheckRelinearizationPartial	(	const ISAM2::Roots &	roots,
		const VectorValues &	delta,
		const ISAM2Params::RelinearizationThreshold &	relinearizeThreshold
	)

inlinestatic

Find the set of variables to be relinearized according to relinearizeThreshold. This check is performed recursively, starting at the top of the tree. Once a variable in the tree does not need to be relinearized, no further checks in that branch are performed. This is an approximation of the Full version, designed to save time at the expense of accuracy.

Parameters

delta	The linear delta to check against the threshold
keyFormatter	Formatter for printing nonlinear keys during debugging

Returns: The set of variable indices in delta whose magnitude is greater than or equal to relinearizeThreshold

Definition at line 318 of file ISAM2-impl.h.

static void gtsam::UpdateImpl::CheckRelinearizationRecursiveDouble	(	double	threshold,
		const VectorValues &	delta,
		const ISAM2::sharedClique &	clique,
		KeySet *	relinKeys
	)

inlinestatic

Definition at line 284 of file ISAM2-impl.h.

static void gtsam::UpdateImpl::CheckRelinearizationRecursiveMap	(	const FastMap< char, Vector > &	thresholds,
		const VectorValues &	delta,
		const ISAM2::sharedClique &	clique,
		KeySet *	relinKeys
	)

inlinestatic

Definition at line 250 of file ISAM2-impl.h.

void gtsam::UpdateImpl::computeUnusedKeys	(	const NonlinearFactorGraph &	newFactors,
		const VariableIndex &	variableIndex,
		const KeySet &	keysWithRemovedFactors,
		KeySet *	unusedKeys
	)		const

inline

Definition at line 180 of file ISAM2-impl.h.

void gtsam::UpdateImpl::error	(	const NonlinearFactorGraph &	nonlinearFactors,
		const Values &	estimate,
		boost::optional< double > *	result
	)		const

inline

Definition at line 197 of file ISAM2-impl.h.

static void gtsam::UpdateImpl::ExpmapMasked	(	const VectorValues &	delta,
		const KeySet &	mask,
		Values *	theta
	)

inlinestatic

Apply expmap to the given values, but only for indices appearing in mask. Values are expmapped in-place.

Parameters

mask	Mask on linear indices, only `true` entries are expmapped

Definition at line 444 of file ISAM2-impl.h.

void gtsam::UpdateImpl::findFluid	(	const ISAM2::Roots &	roots,
		const KeySet &	relinKeys,
		KeySet *	markedKeys,
		ISAM2Result::DetailedResults *	detail
	)		const

inline

Definition at line 417 of file ISAM2-impl.h.

void gtsam::UpdateImpl::gatherInvolvedKeys	(	const NonlinearFactorGraph &	newFactors,
		const NonlinearFactorGraph &	nonlinearFactors,
		const KeySet &	keysWithRemovedFactors,
		KeySet *	markedKeys
	)		const

inline

Definition at line 204 of file ISAM2-impl.h.

KeySet gtsam::UpdateImpl::gatherRelinearizeKeys	(	const ISAM2::Roots &	roots,
		const VectorValues &	delta,
		const KeySet &	fixedVariables,
		KeySet *	markedKeys
	)		const

inline

Definition at line 375 of file ISAM2-impl.h.

static FactorIndexSet gtsam::UpdateImpl::GetAffectedFactors	(	const KeyList &	keys,
		const VariableIndex &	variableIndex
	)

inlinestatic

Definition at line 522 of file ISAM2-impl.h.

static GaussianFactorGraph gtsam::UpdateImpl::GetCachedBoundaryFactors ( const ISAM2::Cliques & orphans )

inlinestatic

Definition at line 535 of file ISAM2-impl.h.

void gtsam::UpdateImpl::linearizeNewFactors	(	const NonlinearFactorGraph &	newFactors,
		const Values &	theta,
		size_t	numNonlinearFactors,
		const FactorIndices &	newFactorsIndices,
		GaussianFactorGraph *	linearFactors
	)		const

inline

Definition at line 470 of file ISAM2-impl.h.

static void gtsam::UpdateImpl::LogRecalculateKeys ( const ISAM2Result & result )

inlinestatic

Definition at line 505 of file ISAM2-impl.h.

static void gtsam::UpdateImpl::LogStartingUpdate	(	const NonlinearFactorGraph &	newFactors,
		const ISAM2 &	isam2
	)

inlinestatic

Definition at line 121 of file ISAM2-impl.h.

void gtsam::UpdateImpl::pushBackFactors	(	const NonlinearFactorGraph &	newFactors,
		NonlinearFactorGraph *	nonlinearFactors,
		GaussianFactorGraph *	linearFactors,
		VariableIndex *	variableIndex,
		FactorIndices *	newFactorsIndices,
		KeySet *	keysWithRemovedFactors
	)		const

inline

Definition at line 146 of file ISAM2-impl.h.

void gtsam::UpdateImpl::recordRelinearizeDetail	(	const KeySet &	relinKeys,
		ISAM2Result::DetailedResults *	detail
	)		const

inline

Definition at line 405 of file ISAM2-impl.h.

bool gtsam::UpdateImpl::relinarizationNeeded ( size_t update_count ) const

inline

Definition at line 139 of file ISAM2-impl.h.

void gtsam::UpdateImpl::updateKeys	(	const KeySet &	markedKeys,
		ISAM2Result *	result
	)		const

inline

Definition at line 233 of file ISAM2-impl.h.

Member Data Documentation

const ISAM2Params& gtsam::UpdateImpl::params_

Definition at line 115 of file ISAM2-impl.h.

const ISAM2UpdateParams& gtsam::UpdateImpl::updateParams_

Definition at line 116 of file ISAM2-impl.h.

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

ISAM2-impl.h

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation