gtsam::ISAM2Result Struct Reference

#include <ISAM2Result.h>

Classes
struct	DetailedResults

Public Member Functions
DetailedResults *	details ()
	Return pointer to detail, 0 if no detail requested. More...
size_t	getCliques () const
double	getErrorAfter () const
double	getErrorBefore () const
size_t	getVariablesReeliminated () const
size_t	getVariablesRelinearized () const
	ISAM2Result (bool enableDetailedResults=false)
void	print (const std::string str="") const
	Print results. More...

Public Attributes
size_t	cliques
boost::optional< DetailedResults >	detail
boost::optional< double >	errorAfter
boost::optional< double >	errorBefore
size_t	factorsRecalculated
KeySet	keysWithRemovedFactors
KeySet	markedKeys
FactorIndices	newFactorsIndices
KeyVector	observedKeys
KeySet	unusedKeys
size_t	variablesReeliminated
size_t	variablesRelinearized

Detailed Description

Definition at line 41 of file ISAM2Result.h.

Constructor & Destructor Documentation

gtsam::ISAM2Result::ISAM2Result ( bool  enableDetailedResults = false )

inlineexplicit

Definition at line 160 of file ISAM2Result.h.

Member Function Documentation

DetailedResults* gtsam::ISAM2Result::details ( )

inline

Return pointer to detail, 0 if no detail requested.

Definition at line 165 of file ISAM2Result.h.

size_t gtsam::ISAM2Result::getCliques ( ) const

inline

Definition at line 178 of file ISAM2Result.h.

double gtsam::ISAM2Result::getErrorAfter ( ) const

inline

Definition at line 180 of file ISAM2Result.h.

double gtsam::ISAM2Result::getErrorBefore ( ) const

inline

Definition at line 179 of file ISAM2Result.h.

size_t gtsam::ISAM2Result::getVariablesReeliminated ( ) const

inline

Definition at line 177 of file ISAM2Result.h.

size_t gtsam::ISAM2Result::getVariablesRelinearized ( ) const

inline

Getters and Setters

Definition at line 176 of file ISAM2Result.h.

void gtsam::ISAM2Result::print ( const std::string  str = "" ) const

inline

Print results.

Definition at line 168 of file ISAM2Result.h.

Member Data Documentation

size_t gtsam::ISAM2Result::cliques

The number of cliques in the Bayes' Tree

Definition at line 91 of file ISAM2Result.h.

boost::optional<DetailedResults> gtsam::ISAM2Result::detail

Detailed results, if enabled by ISAM2Params::enableDetailedResults. See Detail for information about the results data stored here.

Definition at line 158 of file ISAM2Result.h.

boost::optional<double> gtsam::ISAM2Result::errorAfter

The nonlinear error of all of the factors computed after the current update, meaning that variables above the relinearization threshold (ISAM2Params::relinearizeThreshold) have been relinearized and new variables have undergone one linear update. Variable values are again computed by combining their linearization points with their partial linear deltas, by ISAM2::calculateEstimate().

Note: This will only be computed if

ISAM2Params::evaluateNonlinearError is set to true, because there is some cost to this computation.

Definition at line 66 of file ISAM2Result.h.

boost::optional<double> gtsam::ISAM2Result::errorBefore

The nonlinear error of all of the factors, including new factors and variables added during the current call to ISAM2::update(). This error is calculated using the following variable values:

• Pre-existing variables will be evaluated by combining their linearization point before this call to update, with their partial linear delta, as computed by ISAM2::calculateEstimate().
• New variables will be evaluated at their initialization points passed into the current call to update.

  Note: This will only be computed if

  ISAM2Params::evaluateNonlinearError is set to true, because there is some cost to this computation.

Definition at line 54 of file ISAM2Result.h.

size_t gtsam::ISAM2Result::factorsRecalculated

The number of factors that were included in reelimination of the Bayes' tree.

Definition at line 88 of file ISAM2Result.h.

KeySet gtsam::ISAM2Result::keysWithRemovedFactors

Keys of variables that had factors removed.

Definition at line 108 of file ISAM2Result.h.

KeySet gtsam::ISAM2Result::markedKeys

All keys that were marked during the update process.

Definition at line 111 of file ISAM2Result.h.

FactorIndices gtsam::ISAM2Result::newFactorsIndices

The indices of the newly-added factors, in 1-to-1 correspondence with the factors passed as newFactors to ISAM2::update(). These indices may be used later to refer to the factors in order to remove them.

Definition at line 97 of file ISAM2Result.h.

KeyVector gtsam::ISAM2Result::observedKeys

keys for variables that were observed, i.e., not unused.

Definition at line 105 of file ISAM2Result.h.

KeySet gtsam::ISAM2Result::unusedKeys

Unused keys, and indices for unused keys, i.e., keys that are empty now and do not appear in the new factors.

Definition at line 102 of file ISAM2Result.h.

size_t gtsam::ISAM2Result::variablesReeliminated

The number of variables that were reeliminated as parts of the Bayes' Tree were recalculated, due to new factors. When loop closures occur, this count will be large as the new loop-closing factors will tend to involve variables far away from the root, and everything up to the root will be reeliminated.

Definition at line 84 of file ISAM2Result.h.

size_t gtsam::ISAM2Result::variablesRelinearized

The number of variables that were relinearized because their linear deltas exceeded the reslinearization threshold (ISAM2Params::relinearizeThreshold), combined with any additional variables that had to be relinearized because they were involved in the same factor as a variable above the relinearization threshold. On steps where no relinearization is considered (see ISAM2Params::relinearizeSkip), this count will be zero.

Definition at line 76 of file ISAM2Result.h.

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

• ISAM2Result.h