gtsam::ISAM< BAYESTREE > Class Template Reference

#include <ISAM.h>

Inheritance diagram for gtsam::ISAM< BAYESTREE >:

Collaboration diagram for gtsam::ISAM< BAYESTREE >:

Public Types
typedef BAYESTREE	Base
typedef Base::BayesNetType	BayesNetType
typedef Base::FactorGraphType	FactorGraphType
typedef Base::Clique	Clique
typedef Base::sharedClique	sharedClique
typedef Base::Cliques	Cliques

Standard Constructors
	ISAM ()
	ISAM (const Base &bayesTree)

Advanced Interface Interface
void	update (const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
void	updateInternal (const FactorGraphType &newFactors, Cliques *orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate)

Detailed Description

template<class BAYESTREE>
class gtsam::ISAM< BAYESTREE >

A Bayes tree with an update methods that implements the iSAM algorithm. Given a set of new factors, it re-eliminates the invalidated part of the tree.

Constructor & Destructor Documentation

ISAM() [1/2]

template<class BAYESTREE>

gtsam::ISAM< BAYESTREE >::ISAM ( )

inline

Create an empty Bayes Tree

ISAM() [2/2]

template<class BAYESTREE>

gtsam::ISAM< BAYESTREE >::ISAM ( const Base &  bayesTree )

inlineexplicit

Copy constructor

Member Function Documentation

update()

template<class BAYESTREE >

void gtsam::ISAM< BAYESTREE >::update	(	const FactorGraphType &	newFactors,
		const Eliminate &	function = EliminationTraitsType::DefaultEliminate
	)

update the Bayes tree with a set of new factors, typically derived from measurements

Parameters

newFactors	is a factor graph that contains the new factors
function	an elimination routine

updateInternal()

template<class BAYESTREE >

void gtsam::ISAM< BAYESTREE >::updateInternal	(	const FactorGraphType &	newFactors,
		Cliques *	orphans,
		const Eliminate &	function = EliminationTraitsType::DefaultEliminate
	)

updateInternal provides access to list of orphans for drawing purposes

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

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/inference/ISAM.h
• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/inference/ISAM-inst.h