gtsam 4.2.0
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List of all members | Protected Attributes
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.
 
Standard Interface
Values estimate ()
 Return the current solution estimate.
 
const HybridGaussianISAM & bayesTree () const
 access the underlying bayes tree
 
void prune (const size_t maxNumberLeaves)
 Prune the underlying Bayes tree.
 
const Values & getLinearizationPoint () const
 Return the current linearization point.
 
const DiscreteValues & assignment () const
 Return the current discrete assignment.
 
const HybridNonlinearFactorGraph & getFactorsUnsafe () const
 get underlying nonlinear graph
 
int reorderInterval () const
 get counters
 
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: