ISAM2-impl.cpp File Reference

Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization. More...

#include <gtsam/base/debug.h>
#include <gtsam/config.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/ISAM2-impl.h>
#include <boost/range/adaptors.hpp>
#include <functional>
#include <limits>
#include <string>

Include dependency graph for ISAM2-impl.cpp:

Go to the source code of this file.

Namespaces
	gtsam
	traits
	gtsam::internal

Functions
static void	gtsam::internal::optimizeInPlace (const ISAM2::sharedClique &clique, VectorValues *result)
void	gtsam::internal::updateRgProd (const ISAM2::sharedClique &clique, const KeySet &replacedKeys, const VectorValues &grad, VectorValues *RgProd, size_t *varsUpdated)

Detailed Description

Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.

Author

Michael Kaess

Richard Roberts

Definition in file ISAM2-impl.cpp.