GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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#include <ConcurrentFilteringAndSmoothing.h>
Public Types | |
typedef std::shared_ptr< ConcurrentFilter > | shared_ptr |
Public Member Functions | |
ConcurrentFilter () | |
virtual | ~ConcurrentFilter () |
virtual void | print (const std::string &s="Concurrent Filter:\, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const=0 |
virtual bool | equals (const ConcurrentFilter &rhs, double tol=1e-9) const =0 |
virtual void | presync () |
virtual void | getSummarizedFactors (NonlinearFactorGraph &summarizedFactors, Values &separatorValues)=0 |
virtual void | getSmootherFactors (NonlinearFactorGraph &smootherFactors, Values &smootherValues)=0 |
virtual void | synchronize (const NonlinearFactorGraph &summarizedFactors, const Values &separatorValues)=0 |
virtual void | postsync () |
The interface for the 'Filter' portion of the Concurrent Filtering and Smoother architecture.
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inline |
Default constructor
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inlinevirtual |
Default destructor
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pure virtual |
Check if two Concurrent Smoothers are equal
Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.
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pure virtual |
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.
smootherFactors | The new factors to be added to the smoother |
smootherValues | The linearization points of any new variables |
Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.
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pure virtual |
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.
summarizedFactors | The summarized factors for the filter branch |
separatorValues | The linearization points of the separator variables |
Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.
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inlinevirtual |
Perform any required operations after the synchronization process finishes. Called by 'synchronize'
Reimplemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.
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inlinevirtual |
Perform any required operations before the synchronization process starts. Called by 'synchronize'
Reimplemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.
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pure virtual |
Implement a standard 'print' function
Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.
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pure virtual |
Apply the updated version of the smoother branch summarized factors.
summarizedFactors | An updated version of the smoother branch summarized factors |
separatorValues | The linearization points of the separator variables |
Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.