gtsam 4.1.1
gtsam
List of all members | Protected Attributes
gtsam::NonlinearISAM Class Reference

Detailed Description

Wrapper class to manage ISAM in a nonlinear context.

Public Member Functions

Standard Constructors
 NonlinearISAM (int reorderInterval=1, const GaussianFactorGraph::Eliminate &eliminationFunction=GaussianFactorGraph::EliminationTraitsType::DefaultEliminate)
 Periodically reorder and relinearize. More...
 
Standard Interface
Values estimate () const
 Return the current solution estimate.
 
Matrix marginalCovariance (Key key) const
 find the marginal covariance for a single variable
 
const GaussianISAM & bayesTree () const
 access the underlying bayes tree
 
const Values & getLinearizationPoint () const
 Return the current linearization point.
 
const NonlinearFactorGraph & getFactorsUnsafe () 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 NonlinearFactorGraph &newFactors, const Values &initialValues)
 Add new factors along with their initial linearization points.
 
void reorder_relinearize ()
 Relinearization and reordering of variables.
 

Protected Attributes

gtsam::GaussianISAM isam_
 The internal iSAM object.
 
Values linPoint_
 The current linearization point.
 
NonlinearFactorGraph factors_
 The original factors, used when relinearizing.
 
int reorderInterval_
 The reordering interval and counter.
 
int reorderCounter_
 
GaussianFactorGraph::Eliminate eliminationFunction_
 The elimination function.
 

Constructor & Destructor Documentation

◆ NonlinearISAM()

gtsam::NonlinearISAM::NonlinearISAM ( int  reorderInterval = 1,
const GaussianFactorGraph::Eliminate &  eliminationFunction = GaussianFactorGraph::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

◆ reorderInterval()

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

get counters

TODO: comment

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