gtsam::ConcurrentFilter Class Reference

Detailed Description

The interface for the 'Filter' portion of the Concurrent Filtering and Smoother architecture.

Inheritance diagram for gtsam::ConcurrentFilter:

Public Member Functions
	ConcurrentFilter ()
	Default constructor.
virtual	~ConcurrentFilter ()
	Default destructor.
virtual void	print (const std::string &s="Concurrent Filter:\n", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const =0
	Implement a standard 'print' function.
virtual bool	equals (const ConcurrentFilter &rhs, double tol=1e-9) const =0
	Check if two Concurrent Smoothers are equal.
virtual void	presync ()
	Perform any required operations before the synchronization process starts. More...
virtual void	getSummarizedFactors (NonlinearFactorGraph &summarizedFactors, Values &separatorValues)=0
	Populate the provided containers with factors that constitute the filter branch summarization needed by the smoother. More...
virtual void	getSmootherFactors (NonlinearFactorGraph &smootherFactors, Values &smootherValues)=0
	Populate the provided containers with factors being sent to the smoother from the filter. More...
virtual void	synchronize (const NonlinearFactorGraph &summarizedFactors, const Values &separatorValues)=0
	Apply the updated version of the smoother branch summarized factors. More...
virtual void	postsync ()
	Perform any required operations after the synchronization process finishes. More...

Public Types
typedef boost::shared_ptr< ConcurrentFilter >	shared_ptr

Member Function Documentation

getSmootherFactors()

virtual void gtsam::ConcurrentFilter::getSmootherFactors ( NonlinearFactorGraph &  smootherFactors, Values &  smootherValues  )

pure virtual

Populate the provided containers with factors being sent to the smoother from the filter.

These may be original nonlinear factors, or factors encoding a summarization of the filter information. The specifics will be implementation-specific for a given filter.

Parameters

smootherFactors	The new factors to be added to the smoother
smootherValues	The linearization points of any new variables

Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.

getSummarizedFactors()

virtual void gtsam::ConcurrentFilter::getSummarizedFactors ( NonlinearFactorGraph &  summarizedFactors, Values &  separatorValues  )

pure virtual

Populate the provided containers with factors that constitute the filter branch summarization needed by the smoother.

Also, linearization points for the new root clique must be provided.

Parameters

summarizedFactors	The summarized factors for the filter branch
separatorValues	The linearization points of the separator variables

Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.

postsync()

virtual void gtsam::ConcurrentFilter::postsync ( )

inlinevirtual

Perform any required operations after the synchronization process finishes.

Called by 'synchronize'

Reimplemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.

presync()

virtual void gtsam::ConcurrentFilter::presync ( )

inlinevirtual

Perform any required operations before the synchronization process starts.

Called by 'synchronize'

Reimplemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.

synchronize()

virtual void gtsam::ConcurrentFilter::synchronize ( const NonlinearFactorGraph &  summarizedFactors, const Values &  separatorValues  )

pure virtual

Apply the updated version of the smoother branch summarized factors.

Parameters

summarizedFactors	An updated version of the smoother branch summarized factors
separatorValues	The linearization points of the separator variables

Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.

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

• /Users/dellaert/git/gtsam/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h
• /Users/dellaert/git/gtsam/gtsam_unstable/gtsam_unstable.h