#include <ConcurrentBatchFilter.h>

Inheritance diagram for gtsam::ConcurrentBatchFilter:

Collaboration diagram for gtsam::ConcurrentBatchFilter:

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Classes
struct	Result

Public Types
typedef std::shared_ptr< ConcurrentBatchFilter >	shared_ptr

typedef ConcurrentFilter	Base
	typedef for base class

Public Member Functions
	ConcurrentBatchFilter (const LevenbergMarquardtParams &parameters=LevenbergMarquardtParams())

	~ConcurrentBatchFilter () override

void	print (const std::string &s="Concurrent Batch Filter:\, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

bool	equals (const ConcurrentFilter &rhs, double tol=1e-9) const override

const NonlinearFactorGraph &	getFactors () const

const Values &	getLinearizationPoint () const

const Ordering &	getOrdering () const

const VectorValues &	getDelta () const

Values	calculateEstimate () const

template<class VALUE >
VALUE	calculateEstimate (Key key) const

virtual Result	update (const NonlinearFactorGraph &newFactors=NonlinearFactorGraph(), const Values &newTheta=Values(), const std::optional< FastList< Key > > &keysToMove={}, const std::optional< std::vector< size_t > > &removeFactorIndices={})

void	presync () override

void	getSummarizedFactors (NonlinearFactorGraph &filterSummarization, Values &filterSummarizationValues) override

void	getSmootherFactors (NonlinearFactorGraph &smootherFactors, Values &smootherValues) override

void	synchronize (const NonlinearFactorGraph &smootherSummarization, const Values &smootherSummarizationValues) override

void	postsync () override

Protected Attributes
LevenbergMarquardtParams	parameters_
	LM parameters.

NonlinearFactorGraph	factors_
	The set of all factors currently in the filter.

Values	theta_
	Current linearization point of all variables in the filter.

Ordering	ordering_
	The current ordering used to calculate the linear deltas.

VectorValues	delta_
	The current set of linear deltas from the linearization point.

std::queue< size_t >	availableSlots_
	The set of available factor graph slots caused by deleting factors.

Values	separatorValues_
	The linearization points of the separator variables. These should not be updated during optimization.

std::vector< size_t >	separatorSummarizationSlots_
	The slots in factor graph that correspond to the current smoother summarization on the current separator.

NonlinearFactorGraph	smootherSummarization_
	The smoother summarization on the old separator sent by the smoother during the last synchronization.

NonlinearFactorGraph	smootherShortcut_
	A set of conditional factors from the old separator to the current separator (recursively calculated during each filter update)

NonlinearFactorGraph	filterSummarization_
	A temporary holding place for calculated filter summarization factors to be sent to the smoother.

NonlinearFactorGraph	smootherFactors_
	A temporary holding place for the set of full nonlinear factors being sent to the smoother.

Values	smootherValues_
	A temporary holding place for the linearization points of all keys being sent to the smoother.

Detailed Description

A Levenberg-Marquardt Batch Filter that implements the Concurrent Filtering and Smoother interface.

Constructor & Destructor Documentation

◆ ConcurrentBatchFilter()

gtsam::ConcurrentBatchFilter::ConcurrentBatchFilter ( const LevenbergMarquardtParams & parameters = LevenbergMarquardtParams() )

inline

Default constructor

◆ ~ConcurrentBatchFilter()

gtsam::ConcurrentBatchFilter::~ConcurrentBatchFilter ( )

inlineoverride

Default destructor

Member Function Documentation

◆ calculateEstimate() [1/2]

Values gtsam::ConcurrentBatchFilter::calculateEstimate ( ) const

inline

Compute the current best estimate of all variables and return a full Values structure. If only a single variable is needed, it may be faster to call calculateEstimate(const KEY&).

◆ calculateEstimate() [2/2]

template<class VALUE >

VALUE gtsam::ConcurrentBatchFilter::calculateEstimate ( Key key ) const

inline

Compute the current best estimate of a single variable. This is generally faster than calling the no-argument version of calculateEstimate if only specific variables are needed.

Parameters

key

Returns

◆ equals()

bool gtsam::ConcurrentBatchFilter::equals	(	const ConcurrentFilter &	rhs,
		double	tol = `1e-9`
	)		const

overridevirtual

Check if two Concurrent Filters are equal

Implements gtsam::ConcurrentFilter.

◆ getDelta()

const VectorValues& gtsam::ConcurrentBatchFilter::getDelta ( ) const

inline

Access the current set of deltas to the linearization point

◆ getFactors()

const NonlinearFactorGraph& gtsam::ConcurrentBatchFilter::getFactors ( ) const

inline

Access the current set of factors

◆ getLinearizationPoint()

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

inline

Access the current linearization point

◆ getOrdering()

const Ordering& gtsam::ConcurrentBatchFilter::getOrdering ( ) const

inline

Access the current ordering

◆ getSmootherFactors()

void gtsam::ConcurrentBatchFilter::getSmootherFactors	(	NonlinearFactorGraph &	smootherFactors,
		Values &	smootherValues
	)

overridevirtual

Populate the provided containers with factors being sent to the smoother from the filter. These may be original nonlinear factors, or factors encoding a summarization of the filter information. The specifics will be implementation-specific for a given filter.

Parameters

smootherFactors	The new factors to be added to the smoother
smootherValues	The linearization points of any new variables

Implements gtsam::ConcurrentFilter.

◆ getSummarizedFactors()

void gtsam::ConcurrentBatchFilter::getSummarizedFactors	(	NonlinearFactorGraph &	filterSummarization,
		Values &	filterSummarizationValues
	)

overridevirtual

Populate the provided containers with factors that constitute the filter branch summarization needed by the smoother. Also, linearization points for the new root clique must be provided.

Parameters

summarizedFactors	The summarized factors for the filter branch
rootValues	The linearization points of the root clique variables

Implements gtsam::ConcurrentFilter.

◆ postsync()

void gtsam::ConcurrentBatchFilter::postsync ( )

overridevirtual

Perform any required operations after the synchronization process finishes. Called by 'synchronize'

Reimplemented from gtsam::ConcurrentFilter.

◆ presync()

void gtsam::ConcurrentBatchFilter::presync ( )

overridevirtual

Perform any required operations before the synchronization process starts. Called by 'synchronize'

Reimplemented from gtsam::ConcurrentFilter.

◆ print()

void gtsam::ConcurrentBatchFilter::print ( )

overridevirtual

Implement a GTSAM standard 'print' function

Implements gtsam::ConcurrentFilter.

◆ synchronize()

void gtsam::ConcurrentBatchFilter::synchronize	(	const NonlinearFactorGraph &	smootherSummarization,
		const Values &	smootherSummarizationValues
	)

overridevirtual

Apply the updated version of the smoother branch summarized factors.

Parameters

summarizedFactors An updated version of the smoother branch summarized factors

Implements gtsam::ConcurrentFilter.

◆ update()

virtual Result gtsam::ConcurrentBatchFilter::update	(	const NonlinearFactorGraph &	newFactors = `NonlinearFactorGraph()`,
		const Values &	newTheta = `Values()`,
		const std::optional< FastList< Key > > &	keysToMove = `{}`,
		const std::optional< std::vector< size_t > > &	removeFactorIndices = `{}`
	)

virtual

Add new factors and variables to the filter.

Add new measurements, and optionally new variables, to the filter. This runs a full update step of the derived filter algorithm

Parameters

newFactors	The new factors to be added to the smoother
newTheta	Initialization points for new variables to be added to the filter You must include here all new variables occurring in newFactors that were not already in the filter.
keysToMove	An optional set of keys to move from the filter to the smoother
removeFactorIndices	An optional set of indices corresponding to the factors you want to remove from the graph

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/ConcurrentBatchFilter.h

Classes

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ConcurrentBatchFilter()

◆ ~ConcurrentBatchFilter()

Member Function Documentation

◆ calculateEstimate() [1/2]

◆ calculateEstimate() [2/2]

◆ equals()

◆ getDelta()

◆ getFactors()

◆ getLinearizationPoint()

◆ getOrdering()

◆ getSmootherFactors()

◆ getSummarizedFactors()

◆ postsync()

◆ presync()

◆ print()

◆ synchronize()

◆ update()