gtsam::ConcurrentSmoother Class Reference

#include <ConcurrentFilteringAndSmoothing.h>

Inheritance diagram for gtsam::ConcurrentSmoother:

Public Types
typedef std::shared_ptr< ConcurrentSmoother >	shared_ptr

Public Member Functions
	ConcurrentSmoother ()
virtual bool	equals (const ConcurrentSmoother &rhs, double tol=1e-9) const =0
virtual void	getSummarizedFactors (NonlinearFactorGraph &summarizedFactors, Values &separatorValues)=0
virtual void	postsync ()
virtual void	presync ()
virtual void	print (const std::string &s="Concurrent Smoother:\n", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const =0
virtual void	synchronize (const NonlinearFactorGraph &smootherFactors, const Values &smootherValues, const NonlinearFactorGraph &summarizedFactors, const Values &rootValues)=0
virtual	~ConcurrentSmoother ()=default

Detailed Description

The interface for the 'Smoother' portion of the Concurrent Filtering and Smoother architecture.

Definition at line 101 of file ConcurrentFilteringAndSmoothing.h.

Member Typedef Documentation

shared_ptr

typedef std::shared_ptr<ConcurrentSmoother> gtsam::ConcurrentSmoother::shared_ptr

Definition at line 103 of file ConcurrentFilteringAndSmoothing.h.

Constructor & Destructor Documentation

ConcurrentSmoother()

gtsam::ConcurrentSmoother::ConcurrentSmoother ( )

inline

Default constructor

Definition at line 106 of file ConcurrentFilteringAndSmoothing.h.

~ConcurrentSmoother()

virtual gtsam::ConcurrentSmoother::~ConcurrentSmoother ( )

virtualdefault

Default destructor

Member Function Documentation

equals()

virtual bool gtsam::ConcurrentSmoother::equals ( const ConcurrentSmoother &  rhs, double  tol = 1e-9  ) const

pure virtual

Check if two Concurrent Smoothers are equal

Implemented in gtsam::ConcurrentBatchSmoother, and gtsam::ConcurrentIncrementalSmoother.

getSummarizedFactors()

virtual void gtsam::ConcurrentSmoother::getSummarizedFactors ( NonlinearFactorGraph &  summarizedFactors, Values &  separatorValues  )

pure virtual

Populate the provided containers with factors that constitute the smoother branch summarization needed by the filter.

Parameters

summarizedFactors	The summarized factors for the filter branch
separatorValues	The linearization points of the separator variables

Implemented in gtsam::ConcurrentBatchSmoother, and gtsam::ConcurrentIncrementalSmoother.

postsync()

virtual void gtsam::ConcurrentSmoother::postsync ( )

inlinevirtual

Perform any required operations after the synchronization process finishes. Called by 'synchronize'

Reimplemented in gtsam::ConcurrentBatchSmoother, and gtsam::ConcurrentIncrementalSmoother.

Definition at line 150 of file ConcurrentFilteringAndSmoothing.h.

presync()

virtual void gtsam::ConcurrentSmoother::presync ( )

inlinevirtual

Perform any required operations before the synchronization process starts. Called by 'synchronize'

Reimplemented in gtsam::ConcurrentBatchSmoother, and gtsam::ConcurrentIncrementalSmoother.

Definition at line 123 of file ConcurrentFilteringAndSmoothing.h.

print()

virtual void gtsam::ConcurrentSmoother::print ( const std::string &  s = "Concurrent Smoother:\n", const KeyFormatter &  keyFormatter = DefaultKeyFormatter  ) const

pure virtual

Implement a standard 'print' function

Implemented in gtsam::ConcurrentIncrementalSmoother, and gtsam::ConcurrentBatchSmoother.

synchronize()

virtual void gtsam::ConcurrentSmoother::synchronize ( const NonlinearFactorGraph &  smootherFactors, const Values &  smootherValues, const NonlinearFactorGraph &  summarizedFactors, const Values &  rootValues  )

pure virtual

Apply the new smoother factors sent by the filter, and the updated version of the filter branch summarized factors.

Parameters

smootherFactors	A set of new factors added to the smoother from the filter
smootherValues	Linearization points for any new variables
summarizedFactors	An updated version of the filter branch summarized factors
rootValues	The linearization point of the root variables

Implemented in gtsam::ConcurrentBatchSmoother, and gtsam::ConcurrentIncrementalSmoother.

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

• ConcurrentFilteringAndSmoothing.h