#include <ISAM2UpdateParams.h>
Public Member Functions | |
| ISAM2UpdateParams ()=default | |
Public Attributes | |
| std::optional< FastMap< Key, int > > | constrainedKeys |
| std::optional< FastList< Key > > | extraReelimKeys |
| bool | force_relinearize {false} |
| bool | forceFullSolve {false} |
| std::optional< FastMap< FactorIndex, KeySet > > | newAffectedKeys |
| std::optional< FastList< Key > > | noRelinKeys |
| FactorIndices | removeFactorIndices |
This struct is used by ISAM2::update() to pass additional parameters to give the user a fine-grained control on how factors and relinearized, etc.
Definition at line 32 of file ISAM2UpdateParams.h.
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default |
An optional map of keys to group labels, such that a variable can be constrained to a particular grouping in the BayesTree
Definition at line 40 of file ISAM2UpdateParams.h.
An optional set of nonlinear keys that iSAM2 will re-eliminate, regardless of the size of the linear delta. This allows the provided keys to be reordered.
Definition at line 49 of file ISAM2UpdateParams.h.
| bool gtsam::ISAM2UpdateParams::force_relinearize {false} |
Relinearize any variables whose delta magnitude is sufficiently large (Params::relinearizeThreshold), regardless of the relinearization interval (Params::relinearizeSkip).
Definition at line 54 of file ISAM2UpdateParams.h.
| bool gtsam::ISAM2UpdateParams::forceFullSolve {false} |
By default, iSAM2 uses a wildfire update scheme that stops updating when the deltas become too small down in the tree. This flagg forces a full solve instead.
Definition at line 71 of file ISAM2UpdateParams.h.
| std::optional<FastMap<FactorIndex, KeySet> > gtsam::ISAM2UpdateParams::newAffectedKeys |
An optional set of new Keys that are now affected by factors, indexed by factor indices (as returned by ISAM2::update()). Use when working with smart factors. For example:
i: ISAM2::update() called with a new smart factor depending on Keys X(0) and X(1). It returns that the factor index for the new smart factor (inside ISAM2) is 13.i+1: The same smart factor has been augmented to now also depend on Keys X(2), X(3). Next call to ISAM2::update() must include its newAffectedKeys field with the map 13 -> {X(2), X(3)}. Definition at line 66 of file ISAM2UpdateParams.h.
An optional set of nonlinear keys that iSAM2 will hold at a constant linearization point, regardless of the size of the linear delta
Definition at line 44 of file ISAM2UpdateParams.h.
| FactorIndices gtsam::ISAM2UpdateParams::removeFactorIndices |
Indices of factors to remove from system (default: empty)
Definition at line 36 of file ISAM2UpdateParams.h.