GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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#include <ConcurrentBatchSmoother.h>
Classes | |
struct | Result |
Public Types | |
typedef std::shared_ptr< ConcurrentBatchSmoother > | shared_ptr |
typedef ConcurrentSmoother | Base |
typedef for base class | |
Public Member Functions | |
ConcurrentBatchSmoother (const LevenbergMarquardtParams ¶meters=LevenbergMarquardtParams()) | |
~ConcurrentBatchSmoother () override | |
void | print (const std::string &s="Concurrent Batch Smoother:\, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
bool | equals (const ConcurrentSmoother &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< std::vector< size_t > > &removeFactorIndices={}) |
void | presync () override |
void | getSummarizedFactors (NonlinearFactorGraph &summarizedFactors, Values &separatorValues) override |
void | synchronize (const NonlinearFactorGraph &smootherFactors, const Values &smootherValues, const NonlinearFactorGraph &summarizedFactors, const Values &separatorValues) override |
void | postsync () override |
Protected Attributes | |
LevenbergMarquardtParams | parameters_ |
LM parameters. | |
NonlinearFactorGraph | factors_ |
The set of all factors currently in the smoother. | |
Values | theta_ |
Current linearization point of all variables in the smoother. | |
Ordering | ordering_ |
The current ordering used to calculate the linear deltas. | |
VectorValues | delta_ |
The current set of linear deltas from the linearization point. | |
VariableIndex | variableIndex_ |
The current variable index, which allows efficient factor lookup by variable. | |
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 > | filterSummarizationSlots_ |
The slots in factor graph that correspond to the current filter summarization factors. | |
NonlinearFactorGraph | smootherSummarization_ |
A temporary holding place for calculated smoother summarization. | |
A Levenberg-Marquardt Batch Smoother that implements the Concurrent Filtering and Smoother interface.
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inline |
Default constructor
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inlineoverride |
Default destructor
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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&).
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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.
key |
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overridevirtual |
Check if two Concurrent Smoothers are equal
Implements gtsam::ConcurrentSmoother.
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inline |
Access the current set of deltas to the linearization point
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Access the current set of factors
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inline |
Access the current linearization point
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inline |
Access the current ordering
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overridevirtual |
Populate the provided containers with factors that constitute the smoother branch summarization needed by the filter.
summarizedFactors | The summarized factors for the filter branch |
Implements gtsam::ConcurrentSmoother.
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overridevirtual |
Perform any required operations after the synchronization process finishes. Called by 'synchronize'
Reimplemented from gtsam::ConcurrentSmoother.
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overridevirtual |
Perform any required operations before the synchronization process starts. Called by 'synchronize'
Reimplemented from gtsam::ConcurrentSmoother.
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overridevirtual |
Implement a GTSAM standard 'print' function
Implements gtsam::ConcurrentSmoother.
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overridevirtual |
Apply the new smoother factors sent by the filter, and the updated version of the filter branch summarized factors.
smootherFactors | A set of new factors added to the smoother from the filter |
smootherValues | Linearization points for any new variables |
summarizedFactors | An updated version of the filter branch summarized factors |
rootValues | The linearization point of the root variables |
Implements gtsam::ConcurrentSmoother.
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virtual |
Add new factors and variables to the smoother.
Add new measurements, and optionally new variables, to the smoother. This runs a full step of the ISAM2 algorithm, relinearizing and updating the solution as needed, according to the wildfire and relinearize thresholds.
newFactors | The new factors to be added to the smoother |
newTheta | Initialization points for new variables to be added to the smoother You must include here all new variables occuring in newFactors (which were not already in the smoother). There must not be any variables here that do not occur in newFactors, and additionally, variables that were already in the system must not be included here. |