ConcurrentFilteringAndSmoothing.h File Reference

Base classes for the 'filter' and 'smoother' portion of the Concurrent Filtering and Smoothing architecture, as well as an external synchronization function. These classes act as an interface only. More...

#include <gtsam_unstable/dllexport.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/linear/GaussianFactorGraph.h>

Include dependency graph for ConcurrentFilteringAndSmoothing.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	gtsam::ConcurrentFilter
class	gtsam::ConcurrentSmoother

Namespaces
	gtsam

Functions
void GTSAM_UNSTABLE_EXPORT	gtsam::synchronize (ConcurrentFilter &filter, ConcurrentSmoother &smoother)
NonlinearFactorGraph	gtsam::internal::calculateMarginalFactors (const NonlinearFactorGraph &graph, const Values &theta, const KeySet &remainingKeys, const GaussianFactorGraph::Eliminate &eliminateFunction)

Detailed Description

Base classes for the 'filter' and 'smoother' portion of the Concurrent Filtering and Smoothing architecture, as well as an external synchronization function. These classes act as an interface only.

Author

Stephen Williams

Function Documentation

calculateMarginalFactors()

NonlinearFactorGraph gtsam::internal::calculateMarginalFactors	(	const NonlinearFactorGraph &	graph,
		const Values &	theta,
		const KeySet &	remainingKeys,
		const GaussianFactorGraph::Eliminate &	eliminateFunction
	)

Calculate the marginal on the specified keys, returning a set of LinearContainerFactors. Unlike other GTSAM functions with similar purposes, this version can operate on disconnected graphs.