ISAM.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

// \callgraph
#pragma once

#include <gtsam/global_includes.h>

namespace gtsam {

template <class BAYESTREE>
class ISAM : public BAYESTREE {
 public:
  typedef BAYESTREE Base;
  typedef typename Base::BayesNetType BayesNetType;
  typedef typename Base::FactorGraphType FactorGraphType;
  typedef typename Base::Clique Clique;
  typedef typename Base::sharedClique sharedClique;
  typedef typename Base::Cliques Cliques;

 private:
  typedef typename Base::Eliminate Eliminate;
  typedef typename Base::EliminationTraitsType EliminationTraitsType;

 public:

  ISAM() {}

  explicit ISAM(const Base& bayesTree) : Base(bayesTree) {}


  void update(
      const FactorGraphType& newFactors,
      const Eliminate& function = EliminationTraitsType::DefaultEliminate);

  void updateInternal(
      const FactorGraphType& newFactors, Cliques* orphans,
      const Eliminate& function = EliminationTraitsType::DefaultEliminate);

};

}  // namespace gtsam