gtsam::HybridNonlinearISAM Class Reference

#include <HybridNonlinearISAM.h>

Collaboration diagram for gtsam::HybridNonlinearISAM:

Public Member Functions
Standard Constructors
	HybridNonlinearISAM (int reorderInterval=1, const HybridGaussianFactorGraph::Eliminate &eliminationFunction=HybridGaussianFactorGraph::EliminationTraitsType::DefaultEliminate)
Standard Interface
Values	estimate ()
const HybridGaussianISAM &	bayesTree () const
void	prune (const size_t maxNumberLeaves)
	Prune the underlying Bayes tree. More...
const Values &	getLinearizationPoint () const
const DiscreteValues &	assignment () const
const HybridNonlinearFactorGraph &	getFactorsUnsafe () const
int	reorderInterval () const
	TODO: comment. More...
int	reorderCounter () const
	TODO: comment.
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
Advanced Interface
void	update (const HybridNonlinearFactorGraph &newFactors, const Values &initialValues, const std::optional< size_t > &maxNrLeaves={}, const std::optional< Ordering > &ordering={})
void	reorder_relinearize ()

Protected Attributes
gtsam::HybridGaussianISAM	isam_
Values	linPoint_
DiscreteValues	assignment_
	The discrete assignment.
HybridNonlinearFactorGraph	factors_
int	reorderInterval_
int	reorderCounter_
HybridGaussianFactorGraph::Eliminate	eliminationFunction_

Detailed Description

Wrapper class to manage ISAM in a nonlinear context

Constructor & Destructor Documentation

HybridNonlinearISAM()

gtsam::HybridNonlinearISAM::HybridNonlinearISAM ( int  reorderInterval = 1, const HybridGaussianFactorGraph::Eliminate &  eliminationFunction = HybridGaussianFactorGraph::EliminationTraitsType::DefaultEliminate  )

inline

Periodically reorder and relinearize

Parameters

reorderInterval

is the number of updates between reorderings, 0 never reorders (and is dangerous for memory consumption) 1 (default) reorders every time, in worse case is batch every update typical values are 50 or 100

Member Function Documentation

assignment()

const DiscreteValues& gtsam::HybridNonlinearISAM::assignment ( ) const

inline

Return the current discrete assignment

bayesTree()

const HybridGaussianISAM& gtsam::HybridNonlinearISAM::bayesTree ( ) const

inline

find the marginal covariance for a single variable access the underlying bayes tree

estimate()

Values gtsam::HybridNonlinearISAM::estimate

(

)

Return the current solution estimate

getFactorsUnsafe()

const HybridNonlinearFactorGraph& gtsam::HybridNonlinearISAM::getFactorsUnsafe ( ) const

inline

get underlying nonlinear graph

getLinearizationPoint()

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

inline

Return the current linearization point

print()

void gtsam::HybridNonlinearISAM::print	(	const std::string &	s = "",
		const KeyFormatter &	keyFormatter = DefaultKeyFormatter
	)		const

prints out all contents of the system

printStats()

void gtsam::HybridNonlinearISAM::printStats

(

)

const

prints out clique statistics

prune()

void gtsam::HybridNonlinearISAM::prune ( const size_t  maxNumberLeaves )

inline

Prune the underlying Bayes tree.

Parameters

maxNumberLeaves

The max number of leaf nodes to keep.

reorder_relinearize()

void gtsam::HybridNonlinearISAM::reorder_relinearize

(

)

Relinearization and reordering of variables

reorderInterval()

int gtsam::HybridNonlinearISAM::reorderInterval ( ) const

inline

TODO: comment.

get counters

saveGraph()

void gtsam::HybridNonlinearISAM::saveGraph	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = DefaultKeyFormatter
	)		const

saves the Tree to a text file in GraphViz format

update()

void gtsam::HybridNonlinearISAM::update	(	const HybridNonlinearFactorGraph &	newFactors,
		const Values &	initialValues,
		const std::optional< size_t > &	maxNrLeaves = {},
		const std::optional< Ordering > &	ordering = {}
	)

Add new factors along with their initial linearization points

Member Data Documentation

eliminationFunction_

HybridGaussianFactorGraph::Eliminate gtsam::HybridNonlinearISAM::eliminationFunction_

protected

The elimination function

factors_

HybridNonlinearFactorGraph gtsam::HybridNonlinearISAM::factors_

protected

The original factors, used when relinearizing

isam_

gtsam::HybridGaussianISAM gtsam::HybridNonlinearISAM::isam_

protected

The internal iSAM object

linPoint_

Values gtsam::HybridNonlinearISAM::linPoint_

protected

The current linearization point

reorderInterval_

int gtsam::HybridNonlinearISAM::reorderInterval_

protected

The reordering interval and counter

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The documentation for this class was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/hybrid/HybridNonlinearISAM.h