gtsam::NonlinearISAM Class Reference

#include <NonlinearISAM.h>

Public Member Functions
Standard Constructors
	NonlinearISAM (int reorderInterval=1, const GaussianFactorGraph::Eliminate &eliminationFunction=GaussianFactorGraph::EliminationTraitsType::DefaultEliminate)
Standard Interface
Values	estimate () const
Matrix	marginalCovariance (Key key) const
const GaussianISAM &	bayesTree () const
const Values &	getLinearizationPoint () const
const NonlinearFactorGraph &	getFactorsUnsafe () const
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
void	printStats () const
void	saveGraph (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
Advanced Interface
void	update (const NonlinearFactorGraph &newFactors, const Values &initialValues)
void	reorder_relinearize ()

Protected Attributes
GaussianFactorGraph::Eliminate	eliminationFunction_
NonlinearFactorGraph	factors_
gtsam::GaussianISAM	isam_
Values	linPoint_
int	reorderCounter_
int	reorderInterval_

Detailed Description

Wrapper class to manage ISAM in a nonlinear context

Definition at line 27 of file NonlinearISAM.h.

Constructor & Destructor Documentation

NonlinearISAM()

gtsam::NonlinearISAM::NonlinearISAM ( int  reorderInterval = 1, const GaussianFactorGraph::Eliminate &  eliminationFunction = GaussianFactorGraph::EliminationTraitsType::DefaultEliminate  )

inline

Periodically reorder and relinearize

Parameters

reorderInterval

is the number of updates between reorderings, 0 never reorders (and is dangerous for memory consumption) 1 (default) reorders every time, in worse case is batch every update typical values are 50 or 100

Definition at line 58 of file NonlinearISAM.h.

Member Function Documentation

bayesTree()

const GaussianISAM& gtsam::NonlinearISAM::bayesTree ( ) const

inline

access the underlying bayes tree

Definition at line 75 of file NonlinearISAM.h.

estimate()

Values gtsam::NonlinearISAM::estimate

(

)

const

Return the current solution estimate

Definition at line 80 of file NonlinearISAM.cpp.

getFactorsUnsafe()

const NonlinearFactorGraph& gtsam::NonlinearISAM::getFactorsUnsafe ( ) const

inline

get underlying nonlinear graph

Definition at line 81 of file NonlinearISAM.h.

getLinearizationPoint()

const Values& gtsam::NonlinearISAM::getLinearizationPoint ( ) const

inline

Return the current linearization point

Definition at line 78 of file NonlinearISAM.h.

marginalCovariance()

Matrix gtsam::NonlinearISAM::marginalCovariance

(

Key

key

)

const

find the marginal covariance for a single variable

Definition at line 88 of file NonlinearISAM.cpp.

print()

void gtsam::NonlinearISAM::print	(	const std::string &	s = "",
		const KeyFormatter &	keyFormatter = DefaultKeyFormatter
	)		const

prints out all contents of the system

Definition at line 93 of file NonlinearISAM.cpp.

printStats()

void gtsam::NonlinearISAM::printStats

(

)

const

prints out clique statistics

Definition at line 101 of file NonlinearISAM.cpp.

reorder_relinearize()

void gtsam::NonlinearISAM::reorder_relinearize

(

)

Relinearization and reordering of variables

Definition at line 59 of file NonlinearISAM.cpp.

saveGraph()

void gtsam::NonlinearISAM::saveGraph	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = DefaultKeyFormatter
	)		const

saves the Tree to a text file in GraphViz format

Definition at line 30 of file NonlinearISAM.cpp.

update()

void gtsam::NonlinearISAM::update	(	const NonlinearFactorGraph &	newFactors,
		const Values &	initialValues
	)

Add new factors along with their initial linearization points

Definition at line 35 of file NonlinearISAM.cpp.

Member Data Documentation

eliminationFunction_

GaussianFactorGraph::Eliminate gtsam::NonlinearISAM::eliminationFunction_

protected

The elimination function

Definition at line 44 of file NonlinearISAM.h.

factors_

NonlinearFactorGraph gtsam::NonlinearISAM::factors_

protected

The original factors, used when relinearizing

Definition at line 37 of file NonlinearISAM.h.

isam_

gtsam::GaussianISAM gtsam::NonlinearISAM::isam_

protected

The internal iSAM object

Definition at line 31 of file NonlinearISAM.h.

linPoint_

Values gtsam::NonlinearISAM::linPoint_

protected

The current linearization point

Definition at line 34 of file NonlinearISAM.h.

reorderCounter_

int gtsam::NonlinearISAM::reorderCounter_

protected

Definition at line 41 of file NonlinearISAM.h.

reorderInterval_

int gtsam::NonlinearISAM::reorderInterval_

protected

The reordering interval and counter

Definition at line 40 of file NonlinearISAM.h.

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

• NonlinearISAM.h
• NonlinearISAM.cpp