NonlinearISAM.h

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

 * 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

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

#pragma once

#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/linear/GaussianISAM.h>

namespace gtsam {
class GTSAM_EXPORT NonlinearISAM {
protected:

  gtsam::GaussianISAM isam_;

  Values linPoint_;

  NonlinearFactorGraph factors_;

  int reorderInterval_;
  int reorderCounter_;

  GaussianFactorGraph::Eliminate eliminationFunction_;

public:


  NonlinearISAM(int reorderInterval = 1,
    const GaussianFactorGraph::Eliminate& eliminationFunction = GaussianFactorGraph::EliminationTraitsType::DefaultEliminate) :
  reorderInterval_(reorderInterval), reorderCounter_(0), eliminationFunction_(eliminationFunction) {}


  Values estimate() const;

  Matrix marginalCovariance(Key key) const;

  // access

  const GaussianISAM& bayesTree() const { return isam_; }

  const Values& getLinearizationPoint() const { return linPoint_; }

  const NonlinearFactorGraph& getFactorsUnsafe() const { return factors_; }

  int reorderInterval() const { return reorderInterval_; }  
  int reorderCounter() const { return reorderCounter_; }    

  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;


  void update(const NonlinearFactorGraph& newFactors, const Values& initialValues);

  void reorder_relinearize();


};

} // \namespace gtsam