GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
|
#include <NonlinearISAM.h>
Public Member Functions | |
Standard Constructors | |
NonlinearISAM (int reorderInterval=1, const GaussianFactorGraph::Eliminate &eliminationFunction=GaussianFactorGraph::EliminationTraitsType::DefaultEliminate) | |
Standard Interface | |
Values | estimate () const |
Matrix | marginalCovariance (Key key) const |
const GaussianISAM & | bayesTree () const |
const Values & | getLinearizationPoint () const |
const NonlinearFactorGraph & | 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 NonlinearFactorGraph &newFactors, const Values &initialValues) |
void | reorder_relinearize () |
Protected Attributes | |
gtsam::GaussianISAM | isam_ |
Values | linPoint_ |
NonlinearFactorGraph | factors_ |
int | reorderInterval_ |
int | reorderCounter_ |
GaussianFactorGraph::Eliminate | eliminationFunction_ |
Wrapper class to manage ISAM in a nonlinear context
|
inline |
Periodically reorder and relinearize
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 |
|
inline |
access the underlying bayes tree
Values gtsam::NonlinearISAM::estimate | ( | ) | const |
Return the current solution estimate
|
inline |
get underlying nonlinear graph
|
inline |
Return the current linearization point
Matrix gtsam::NonlinearISAM::marginalCovariance | ( | Key | key | ) | const |
find the marginal covariance for a single variable
void gtsam::NonlinearISAM::print | ( | const std::string & | s = "" , |
const KeyFormatter & | keyFormatter = DefaultKeyFormatter |
||
) | const |
prints out all contents of the system
void gtsam::NonlinearISAM::printStats | ( | ) | const |
prints out clique statistics
void gtsam::NonlinearISAM::reorder_relinearize | ( | ) |
Relinearization and reordering of variables
|
inline |
TODO: comment.
get counters
void gtsam::NonlinearISAM::saveGraph | ( | const std::string & | s, |
const KeyFormatter & | keyFormatter = DefaultKeyFormatter |
||
) | const |
saves the Tree to a text file in GraphViz format
void gtsam::NonlinearISAM::update | ( | const NonlinearFactorGraph & | newFactors, |
const Values & | initialValues | ||
) |
Add new factors along with their initial linearization points
|
protected |
The elimination function
|
protected |
The original factors, used when relinearizing
|
protected |
The internal iSAM object
|
protected |
The current linearization point
|
protected |
The reordering interval and counter