#include <HybridNonlinearISAM.h>

Public Member Functions
Standard Constructors
	HybridNonlinearISAM (int reorderInterval=1, const HybridGaussianFactorGraph::Eliminate &eliminationFunction=HybridGaussianFactorGraph::EliminationTraitsType::DefaultEliminate)

Standard Interface
Values	estimate ()

const HybridGaussianISAM &	bayesTree () const

void	prune (const size_t maxNumberLeaves)
	Prune the underlying Bayes tree. More...

const Values &	getLinearizationPoint () const

const DiscreteValues &	assignment () const

const HybridNonlinearFactorGraph &	getFactorsUnsafe () const

int	reorderInterval () const
	TODO: comment. More...

int	reorderCounter () const
	TODO: comment. More...

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 HybridNonlinearFactorGraph &newFactors, const Values &initialValues, const std::optional< size_t > &maxNrLeaves={}, const std::optional< Ordering > &ordering={})

void	reorder_relinearize ()

Protected Attributes
DiscreteValues	assignment_
	The discrete assignment. More...

HybridGaussianFactorGraph::Eliminate	eliminationFunction_

HybridNonlinearFactorGraph	factors_

gtsam::HybridGaussianISAM	isam_

Values	linPoint_

int	reorderCounter_

int	reorderInterval_

Detailed Description

Wrapper class to manage ISAM in a nonlinear context

Definition at line 28 of file HybridNonlinearISAM.h.

Constructor & Destructor Documentation

◆ HybridNonlinearISAM()

gtsam::HybridNonlinearISAM::HybridNonlinearISAM	(	int	reorderInterval = `1`,
		const HybridGaussianFactorGraph::Eliminate &	eliminationFunction = `HybridGaussianFactorGraph::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 60 of file HybridNonlinearISAM.h.

Member Function Documentation

◆ assignment()

const DiscreteValues& gtsam::HybridNonlinearISAM::assignment ( ) const

inline

Return the current discrete assignment

Definition at line 94 of file HybridNonlinearISAM.h.

◆ bayesTree()

const HybridGaussianISAM& gtsam::HybridNonlinearISAM::bayesTree ( ) const

inline

find the marginal covariance for a single variable access the underlying bayes tree

Definition at line 81 of file HybridNonlinearISAM.h.

◆ estimate()

Values gtsam::HybridNonlinearISAM::estimate ( )

Return the current solution estimate

Definition at line 82 of file HybridNonlinearISAM.cpp.

◆ getFactorsUnsafe()

const HybridNonlinearFactorGraph& gtsam::HybridNonlinearISAM::getFactorsUnsafe ( ) const

inline

get underlying nonlinear graph

Definition at line 97 of file HybridNonlinearISAM.h.

◆ getLinearizationPoint()

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

inline

Return the current linearization point

Definition at line 91 of file HybridNonlinearISAM.h.

◆ print()

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

prints out all contents of the system

Definition at line 99 of file HybridNonlinearISAM.cpp.

◆ printStats()

void gtsam::HybridNonlinearISAM::printStats ( ) const

prints out clique statistics

Definition at line 111 of file HybridNonlinearISAM.cpp.

◆ prune()

void gtsam::HybridNonlinearISAM::prune ( const size_t maxNumberLeaves )

inline

Prune the underlying Bayes tree.

Parameters

maxNumberLeaves The max number of leaf nodes to keep.

Definition at line 88 of file HybridNonlinearISAM.h.

◆ reorder_relinearize()

void gtsam::HybridNonlinearISAM::reorder_relinearize ( )

Relinearization and reordering of variables

Definition at line 63 of file HybridNonlinearISAM.cpp.

◆ reorderCounter()

int gtsam::HybridNonlinearISAM::reorderCounter ( ) const

inline

TODO: comment.

Definition at line 103 of file HybridNonlinearISAM.h.

◆ reorderInterval()

int gtsam::HybridNonlinearISAM::reorderInterval ( ) const

inline

TODO: comment.

get counters

Definition at line 102 of file HybridNonlinearISAM.h.

◆ saveGraph()

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

saves the Tree to a text file in GraphViz format

Definition at line 29 of file HybridNonlinearISAM.cpp.

◆ update()

void gtsam::HybridNonlinearISAM::update	(	const HybridNonlinearFactorGraph &	newFactors,
		const Values &	initialValues,
		const std::optional< size_t > &	maxNrLeaves = `{}`,
		const std::optional< Ordering > &	ordering = `{}`
	)

Add new factors along with their initial linearization points

Definition at line 35 of file HybridNonlinearISAM.cpp.

Member Data Documentation

◆ assignment_

DiscreteValues gtsam::HybridNonlinearISAM::assignment_

protected

The discrete assignment.

Definition at line 37 of file HybridNonlinearISAM.h.

◆ eliminationFunction_

HybridGaussianFactorGraph::Eliminate gtsam::HybridNonlinearISAM::eliminationFunction_

protected

The elimination function

Definition at line 47 of file HybridNonlinearISAM.h.

◆ factors_

HybridNonlinearFactorGraph gtsam::HybridNonlinearISAM::factors_

protected

The original factors, used when relinearizing

Definition at line 40 of file HybridNonlinearISAM.h.

◆ isam_

gtsam::HybridGaussianISAM gtsam::HybridNonlinearISAM::isam_

protected

The internal iSAM object

Definition at line 31 of file HybridNonlinearISAM.h.

◆ linPoint_

Values gtsam::HybridNonlinearISAM::linPoint_

protected

The current linearization point

Definition at line 34 of file HybridNonlinearISAM.h.

◆ reorderCounter_

int gtsam::HybridNonlinearISAM::reorderCounter_

protected

Definition at line 44 of file HybridNonlinearISAM.h.

◆ reorderInterval_

int gtsam::HybridNonlinearISAM::reorderInterval_

protected

The reordering interval and counter

Definition at line 43 of file HybridNonlinearISAM.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ HybridNonlinearISAM()

Member Function Documentation

◆ assignment()

◆ bayesTree()

◆ estimate()

◆ getFactorsUnsafe()

◆ getLinearizationPoint()

◆ print()

◆ printStats()

◆ prune()

◆ reorder_relinearize()

◆ reorderCounter()

◆ reorderInterval()

◆ saveGraph()

◆ update()

Member Data Documentation

◆ assignment_

◆ eliminationFunction_

◆ factors_

◆ isam_

◆ linPoint_

◆ reorderCounter_

◆ reorderInterval_