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gtsam::FixedLagSmoother Class Referenceabstract
Inheritance diagram for gtsam::FixedLagSmoother:
Public Member Functions | |
| FixedLagSmoother (double smootherLag=0.0) | |
| default constructor | |
| virtual | ~FixedLagSmoother () |
| destructor | |
| virtual void | print (const std::string &s="FixedLagSmoother:\n", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| Print the factor for debugging and testing (implementing Testable) | |
| virtual bool | equals (const FixedLagSmoother &rhs, double tol=1e-9) const |
| Check if two IncrementalFixedLagSmoother Objects are equal. | |
| double | smootherLag () const |
| read the current smoother lag | |
| double & | smootherLag () |
| write to the current smoother lag | |
| const KeyTimestampMap & | timestamps () const |
| Access the current set of timestamps associated with each variable. | |
| virtual Result | update (const NonlinearFactorGraph &newFactors=NonlinearFactorGraph(), const Values &newTheta=Values(), const KeyTimestampMap ×tamps=KeyTimestampMap(), const FastVector< size_t > &factorsToRemove=FastVector< size_t >())=0 |
| Add new factors, updating the solution and relinearizing as needed. More... | |
| virtual Values | calculateEstimate () const =0 |
| Compute an estimate from the incomplete linear delta computed during the last update. More... | |
Public Types | |
| typedef boost::shared_ptr< FixedLagSmoother > | shared_ptr |
| Typedef for a shared pointer to an Incremental Fixed-Lag Smoother. | |
| typedef std::map< Key, double > | KeyTimestampMap |
| Typedef for a Key-Timestamp map/database. | |
| typedef std::multimap< double, Key > | TimestampKeyMap |
Classes | |
| struct | Result |
| Meta information returned about the update. More... | |
Protected Member Functions | |
| void | updateKeyTimestampMap (const KeyTimestampMap &newTimestamps) |
| Update the Timestamps associated with the keys. | |
| void | eraseKeyTimestampMap (const KeyVector &keys) |
| Erase keys from the Key-Timestamps database. | |
| double | getCurrentTimestamp () const |
| Find the most recent timestamp of the system. | |
| KeyVector | findKeysBefore (double timestamp) const |
| Find all of the keys associated with timestamps before the provided time. | |
| KeyVector | findKeysAfter (double timestamp) const |
| Find all of the keys associated with timestamps before the provided time. | |
Protected Attributes | |
| double | smootherLag_ |
| The length of the smoother lag. More... | |
| TimestampKeyMap | timestampKeyMap_ |
| The current timestamp associated with each tracked key. | |
| KeyTimestampMap | keyTimestampMap_ |
Member Function Documentation
◆ calculateEstimate()
|
pure virtual |
Compute an estimate from the incomplete linear delta computed during the last update.
This delta is incomplete because it was not updated below wildfire_threshold. If only a single variable is needed, it is faster to call calculateEstimate(const KEY&).
Implemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.
◆ update()
|
pure virtual |
Add new factors, updating the solution and relinearizing as needed.
Implemented in gtsam::IncrementalFixedLagSmoother, and gtsam::BatchFixedLagSmoother.
Member Data Documentation
◆ smootherLag_
|
protected |
The length of the smoother lag.
Any variable older than this amount will be marginalized out.
The documentation for this class was generated from the following files:
- /Users/dellaert/git/gtsam/gtsam_unstable/nonlinear/FixedLagSmoother.h
- /Users/dellaert/git/gtsam/gtsam_unstable/gtsam_unstable.h
- /Users/dellaert/git/gtsam/gtsam_unstable/nonlinear/FixedLagSmoother.cpp
