gtsam 4.2.0
gtsam
gtsam::HybridNonlinearISAM Class Reference

Detailed Description

Wrapper class to manage ISAM in a nonlinear context.

Public Member Functions

Standard Constructors
 HybridNonlinearISAM (int reorderInterval=1, const HybridGaussianFactorGraph::Eliminate &eliminationFunction=HybridGaussianFactorGraph::EliminationTraitsType::DefaultEliminate)
 Periodically reorder and relinearize. More...
 
Standard Interface
Values estimate ()
 Return the current solution estimate.
 
const HybridGaussianISAMbayesTree () const
 access the underlying bayes tree
 
void prune (const size_t maxNumberLeaves)
 Prune the underlying Bayes tree. More...
 
const ValuesgetLinearizationPoint () const
 Return the current linearization point.
 
const DiscreteValuesassignment () const
 Return the current discrete assignment.
 
const HybridNonlinearFactorGraphgetFactorsUnsafe () const
 get underlying nonlinear graph
 
int reorderInterval () const
 get counters More...
 
int reorderCounter () const
 TODO: comment.
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 prints out all contents of the system
 
void printStats () const
 prints out clique statistics
 
void saveGraph (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 saves the Tree to a text file in GraphViz format
 
Advanced Interface
void update (const HybridNonlinearFactorGraph &newFactors, const Values &initialValues, const boost::optional< size_t > &maxNrLeaves=boost::none, const boost::optional< Ordering > &ordering=boost::none)
 Add new factors along with their initial linearization points.
 
void reorder_relinearize ()
 Relinearization and reordering of variables.
 

Protected Attributes

gtsam::HybridGaussianISAM isam_
 The internal iSAM object.
 
Values linPoint_
 The current linearization point.
 
DiscreteValues assignment_
 The discrete assignment.
 
HybridNonlinearFactorGraph factors_
 The original factors, used when relinearizing.
 
int reorderInterval_
 The reordering interval and counter.
 
int reorderCounter_
 
HybridGaussianFactorGraph::Eliminate eliminationFunction_
 The elimination function.
 

Constructor & Destructor Documentation

◆ HybridNonlinearISAM()

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

Periodically reorder and relinearize.

Parameters
reorderIntervalis 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

◆ prune()

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

Prune the underlying Bayes tree.

Parameters
maxNumberLeavesThe max number of leaf nodes to keep.

◆ reorderInterval()

int gtsam::HybridNonlinearISAM::reorderInterval ( ) const
inline

get counters

TODO: comment


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