ISAM.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
// \callgraph
#pragma once
 
#include <gtsam/global_includes.h>
 
namespace gtsam {
 
template <class BAYESTREE>
class ISAM : public BAYESTREE {
 public:
  typedef BAYESTREE Base;
  typedef typename Base::BayesNetType BayesNetType;
  typedef typename Base::FactorGraphType FactorGraphType;
  typedef typename Base::Clique Clique;
  typedef typename Base::sharedClique sharedClique;
  typedef typename Base::Cliques Cliques;
 
 private:
  typedef typename Base::Eliminate Eliminate;
  typedef typename Base::EliminationTraitsType EliminationTraitsType;
 
 public:
 
  ISAM() {}
 
  explicit ISAM(const Base& bayesTree) : Base(bayesTree) {}
 
 
  void update(
      const FactorGraphType& newFactors,
      const Eliminate& function = EliminationTraitsType::DefaultEliminate);
 
  void updateInternal(
      const FactorGraphType& newFactors, Cliques* orphans,
      const Eliminate& function = EliminationTraitsType::DefaultEliminate);
 
};
 
}  // namespace gtsam