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typedef std::shared_ptr< BatchFixedLagSmoother > | shared_ptr |
| Typedef for a shared pointer to an Incremental Fixed-Lag Smoother.
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typedef std::map< Key, double > | KeyTimestampMap |
| Typedef for a Key-Timestamp map/database.
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typedef std::multimap< double, Key > | TimestampKeyMap |
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◆ FactorIndex
A typedef defining an Key-Factor mapping
◆ BatchFixedLagSmoother()
◆ ~BatchFixedLagSmoother()
gtsam::BatchFixedLagSmoother::~BatchFixedLagSmoother |
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◆ calculateEstimate() [1/2]
Values gtsam::BatchFixedLagSmoother::calculateEstimate |
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const |
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inlineoverridevirtual |
Compute an estimate from the incomplete linear delta computed during the last update. This delta is incomplete because it was not updated below wildfire_threshold. If only a single variable is needed, it is faster to call calculateEstimate(const KEY&).
Implements gtsam::FixedLagSmoother.
◆ calculateEstimate() [2/2]
template<class VALUE >
VALUE gtsam::BatchFixedLagSmoother::calculateEstimate |
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Key |
key | ) |
const |
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inline |
Compute an estimate for a single variable using its incomplete linear delta computed during the last update. This is faster than calling the no-argument version of calculateEstimate, which operates on all variables.
- Parameters
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- Returns
◆ CalculateMarginalFactors()
Marginalize specific keys from a linear graph. Does not check whether keys actually exist in graph. In that case will fail somewhere deep within elimination
◆ equals()
bool gtsam::BatchFixedLagSmoother::equals |
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const FixedLagSmoother & |
rhs, |
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double |
tol = 1e-9 |
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overridevirtual |
◆ eraseKeys()
void gtsam::BatchFixedLagSmoother::eraseKeys |
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const KeyVector & |
keys | ) |
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protected |
Erase any keys associated with timestamps before the provided time
◆ eraseKeyTimestampMap()
void gtsam::FixedLagSmoother::eraseKeyTimestampMap |
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const KeyVector & |
keys | ) |
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protectedinherited |
Erase keys from the Key-Timestamps database
◆ findKeysAfter()
KeyVector gtsam::FixedLagSmoother::findKeysAfter |
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double |
timestamp | ) |
const |
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protectedinherited |
Find all of the keys associated with timestamps before the provided time
◆ findKeysBefore()
KeyVector gtsam::FixedLagSmoother::findKeysBefore |
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double |
timestamp | ) |
const |
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protectedinherited |
Find all of the keys associated with timestamps before the provided time
◆ getCurrentTimestamp()
double gtsam::FixedLagSmoother::getCurrentTimestamp |
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const |
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protectedinherited |
Find the most recent timestamp of the system
◆ getDelta()
const VectorValues& gtsam::BatchFixedLagSmoother::getDelta |
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const |
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inline |
Access the current set of deltas to the linearization point
◆ getFactors()
Access the current set of factors
◆ getLinearizationPoint()
const Values& gtsam::BatchFixedLagSmoother::getLinearizationPoint |
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const |
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inline |
Access the current linearization point
◆ getOrdering()
const Ordering& gtsam::BatchFixedLagSmoother::getOrdering |
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const |
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inline |
Access the current ordering
◆ insertFactors()
Augment the list of factors with a set of new factors
◆ marginalize()
void gtsam::BatchFixedLagSmoother::marginalize |
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const KeyVector & |
marginalizableKeys | ) |
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Marginalize out selected variables
◆ optimize()
Result gtsam::BatchFixedLagSmoother::optimize |
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Optimize the current graph using a modified version of L-M
◆ params() [1/2]
read the current set of optimizer parameters
◆ params() [2/2]
update the current set of optimizer parameters
◆ print()
void gtsam::BatchFixedLagSmoother::print |
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◆ removeFactors()
void gtsam::BatchFixedLagSmoother::removeFactors |
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const std::set< size_t > & |
deleteFactors | ) |
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protected |
Remove factors from the list of factors by slot index
◆ reorder()
void gtsam::BatchFixedLagSmoother::reorder |
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const KeyVector & |
marginalizeKeys = KeyVector() | ) |
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Use colamd to update into an efficient ordering
◆ smootherLag() [1/2]
double gtsam::FixedLagSmoother::smootherLag |
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const |
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read the current smoother lag
◆ smootherLag() [2/2]
double& gtsam::FixedLagSmoother::smootherLag |
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write to the current smoother lag
◆ timestamps()
Access the current set of timestamps associated with each variable
◆ update()
◆ updateKeyTimestampMap()
void gtsam::FixedLagSmoother::updateKeyTimestampMap |
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const KeyTimestampMap & |
newTimestamps | ) |
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protectedinherited |
Update the Timestamps associated with the keys
◆ availableSlots_
std::queue<size_t> gtsam::BatchFixedLagSmoother::availableSlots_ |
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protected |
The set of available factor graph slots. These occur because we are constantly deleting factors, leaving holes.
◆ delta_
The current set of linear deltas
◆ enforceConsistency_
bool gtsam::BatchFixedLagSmoother::enforceConsistency_ |
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protected |
A flag indicating if the optimizer should enforce probabilistic consistency by maintaining the linearization point of all variables involved in linearized/marginal factors at the edge of the smoothing window. This idea is from ??? TODO: Look up paper reference
◆ factorIndex_
A cross-reference structure to allow efficient factor lookups by key
◆ factors_
◆ linearValues_
Values gtsam::BatchFixedLagSmoother::linearValues_ |
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The set of values involved in current linear factors.
◆ ordering_
Ordering gtsam::BatchFixedLagSmoother::ordering_ |
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◆ parameters_
The L-M optimization parameters
◆ smootherLag_
double gtsam::FixedLagSmoother::smootherLag_ |
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The length of the smoother lag. Any variable older than this amount will be marginalized out.
◆ theta_
Values gtsam::BatchFixedLagSmoother::theta_ |
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The current linearization point
◆ timestampKeyMap_
TimestampKeyMap gtsam::FixedLagSmoother::timestampKeyMap_ |
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protectedinherited |
The current timestamp associated with each tracked key
The documentation for this class was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h