Static Public Member Functions
static size_t	UpdateGaussNewtonDelta (const ISAM2::Roots &roots, const KeySet &replacedKeys, double wildfireThreshold, VectorValues *delta)
	Update the Newton's method step point, using wildfire.

static size_t	UpdateRgProd (const ISAM2::Roots &roots, const KeySet &replacedKeys, const VectorValues &gradAtZero, VectorValues *RgProd)
	Update the RgProd (R*g) incrementally taking into account which variables have been recalculated in `replacedKeys`. More...

static VectorValues	ComputeGradientSearch (const VectorValues &gradAtZero, const VectorValues &RgProd)
	Compute the gradient-search point. More...

Member Function Documentation

◆ ComputeGradientSearch()

VectorValues gtsam::DeltaImpl::ComputeGradientSearch	(	const VectorValues &	gradAtZero,
		const VectorValues &	RgProd
	)

static

Compute the gradient-search point.

Only used in Dogleg.

size_t gtsam::DeltaImpl::UpdateRgProd	(	const ISAM2::Roots &	roots,
		const KeySet &	replacedKeys,
		const VectorValues &	gradAtZero,
		VectorValues *	RgProd
	)

static

Update the RgProd (R*g) incrementally taking into account which variables have been recalculated in replacedKeys.

Only used in Dogleg.

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