Detailed Description

Incremental Smoothing and Mapping (ISAM) algorithm for hybrid factor graphs.

Inheritance diagram for gtsam::HybridGaussianISAM:

Public Member Functions
void	update (const HybridGaussianFactorGraph &newFactors, const std::optional< size_t > &maxNrLeaves={}, const std::optional< Ordering > &ordering={}, const HybridBayesTree::Eliminate &function=HybridBayesTree::EliminationTraitsType::DefaultEliminate)
	Perform update step with new factors.
Standard Constructors
	HybridGaussianISAM ()
	Create an empty Bayes Tree.
	HybridGaussianISAM (const HybridBayesTree &bayesTree)
	Copy constructor.
Public Member Functions inherited from gtsam::ISAM< HybridBayesTree >
	ISAM ()
	Create an empty Bayes Tree.
	ISAM (const Base &bayesTree)
	Copy constructor.
void	update (const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
	update the Bayes tree with a set of new factors, typically derived from measurements
void	updateInternal (const FactorGraphType &newFactors, Cliques *orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
	updateInternal provides access to list of orphans for drawing purposes
Public Member Functions inherited from gtsam::HybridBayesTree
	HybridBayesTree ()=default
	Default constructor, creates an empty Bayes tree.
bool	equals (const This &other, double tol=1e-9) const
	Check equality.
GaussianBayesTree	choose (const DiscreteValues &assignment) const
	Get the Gaussian Bayes Tree which corresponds to a specific discrete value assignment.
double	error (const HybridValues &values) const
	Error for all conditionals.
HybridValues	optimize () const
	Optimize the hybrid Bayes tree by computing the MPE for the current set of discrete variables and using it to compute the best continuous update delta.
VectorValues	optimize (const DiscreteValues &assignment) const
	Recursively optimize the BayesTree to produce a vector solution.
DiscreteValues	mpe () const
	Compute the Most Probable Explanation (MPE) of the discrete variables.
void	prune (const size_t maxNumberLeaves)
	Prune the underlying Bayes tree.
Public Member Functions inherited from gtsam::BayesTree< HybridBayesTreeClique >
bool	equals (const This &other, double tol=1e-9) const
	check equality
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	print
size_t	size () const
	number of cliques
bool	empty () const
	Check if there are any cliques in the tree.
const Nodes &	nodes () const
	Return nodes.
sharedClique	operator[] (Key j) const
	Access node by variable.
const Roots &	roots () const
	return root cliques
const sharedClique &	clique (Key j) const
	alternate syntax for matlab: find the clique that contains the variable with Key j
BayesTreeCliqueData	getCliqueData () const
	Gather data on all cliques.
size_t	numCachedSeparatorMarginals () const
	Collect number of cliques with cached separator marginals.
sharedConditional	marginalFactor (Key j, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const
	Return marginal on any variable.
sharedFactorGraph	joint (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const
	return joint on two variables Limitation: can only calculate joint if cliques are disjoint or one of them is root
sharedFactorGraph	joint (const KeyVector &keys, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const
	Return a joint factor graph on an arbitrary set of variables.
sharedBayesNet	jointBayesNet (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const
	return joint on two variables as a BayesNet Limitation: can only calculate joint if cliques are disjoint or one of them is root
sharedBayesNet	jointBayesNet (const KeyVector &keys, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const
	Return a joint marginal Bayes net whose elimination order follows the first occurrence of each key.
void	dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Output to graphviz format, stream version.
std::string	dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Output to graphviz format string.
void	saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	output to file with graphviz format.
Key	findParentClique (const CONTAINER &parents) const
	Find parent clique of a conditional.
void	clear ()
	Remove all nodes.
void	deleteCachedShortcuts ()
	Clear all shortcut caches - use before timing on marginal calculation to avoid residual cache data.
void	removePath (sharedClique clique, BayesNetType bn, Cliques orphans)
	Remove path from clique to root and return that path as factors plus a list of orphaned subtree roots.
void	removeTop (const KeyVector &keys, BayesNetType bn, Cliques orphans)
	Given a list of indices, turn "contaminated" part of the tree back into a factor graph.
Cliques	removeSubtree (const sharedClique &subtree)
	Remove the requested subtree.
void	insertRoot (const sharedClique &subtree)
	Insert a new subtree with known parent clique.
void	addClique (const sharedClique &clique, const sharedClique &parent_clique=sharedClique())
	add a clique (top down)
void	addFactorsToGraph (FactorGraph< FactorType > *graph) const
	Add all cliques in this BayesTree to the specified factor graph.
gtsam::KeySet	collectAffectedKeys (const gtsam::KeyVector &keys) const
	Returns the set of keys from the tree that are affected by a update to 'keys'.

Static Public Member Functions
static Ordering	GetOrdering (HybridGaussianFactorGraph &factors, const HybridGaussianFactorGraph &newFactors)
	Helper method to get an ordering given the existing factors and any new factors added.

Public Types
typedef ISAM< HybridBayesTree >	Base
typedef HybridGaussianISAM	This
typedef std::shared_ptr< This >	shared_ptr
Public Types inherited from gtsam::ISAM< HybridBayesTree >
typedef HybridBayesTree	Base
typedef Base::BayesNetType	BayesNetType
typedef Base::FactorGraphType	FactorGraphType
typedef Base::Clique	Clique
typedef Base::sharedClique	sharedClique
typedef Base::Cliques	Cliques
Public Types inherited from gtsam::HybridBayesTree
typedef HybridBayesTree	This
typedef std::shared_ptr< This >	shared_ptr
Public Types inherited from gtsam::BayesTree< HybridBayesTreeClique >
typedef HybridBayesTreeClique	Clique
	The clique type, normally BayesTreeClique.
typedef std::shared_ptr< Clique >	sharedClique
	Shared pointer to a clique.
typedef Clique	Node
	Synonym for Clique (TODO: remove).
typedef sharedClique	sharedNode
	Synonym for sharedClique (TODO: remove).
typedef HybridBayesTreeClique::ConditionalType	ConditionalType
typedef std::shared_ptr< ConditionalType >	sharedConditional
typedef HybridBayesTreeClique::BayesNetType	BayesNetType
typedef std::shared_ptr< BayesNetType >	sharedBayesNet
typedef HybridBayesTreeClique::FactorType	FactorType
typedef std::shared_ptr< FactorType >	sharedFactor
typedef HybridBayesTreeClique::FactorGraphType	FactorGraphType
typedef std::shared_ptr< FactorGraphType >	sharedFactorGraph
typedef FactorGraphType::Eliminate	Eliminate
typedef HybridBayesTreeClique::EliminationTraitsType	EliminationTraitsType
typedef FastList< sharedClique >	Cliques
	A convenience class for a list of shared cliques.
typedef ConcurrentMap< Key, sharedClique >	Nodes
	Map from keys to Clique.
typedef FastVector< sharedClique >	Roots
	Root cliques.

Additional Inherited Members
Protected Types inherited from gtsam::BayesTree< HybridBayesTreeClique >
typedef BayesTree< HybridBayesTreeClique >	This
typedef std::shared_ptr< This >	shared_ptr
Protected Member Functions inherited from gtsam::BayesTree< HybridBayesTreeClique >
	~BayesTree ()
	Destructor.
This &	operator= (const This &other)
	Assignment operator.
	BayesTree ()
	Create an empty Bayes Tree.
	BayesTree (const This &other)
	Copy constructor.
void	dot (std::ostream &s, sharedClique clique, const KeyFormatter &keyFormatter, size_t parentnum=0) const
	private helper method for saving the Tree to a text file in GraphViz format
void	getCliqueData (sharedClique clique, BayesTreeCliqueData *stats) const
	Gather data on a single clique.
void	removeClique (sharedClique clique)
	remove a clique: warning, can result in a forest
void	fillNodesIndex (const sharedClique &subtree)
	Fill the nodes index for a subtree.
void	collectAffectedPathKeys (gtsam::KeySet &traversedKeys, const sharedClique &clique) const
	Helper for collectAffectedKeys that recursively aggregates affected keys from a path from 'clique' to the root of tree.
Protected Attributes inherited from gtsam::BayesTree< HybridBayesTreeClique >
Nodes	nodes_
	Map from indices to Clique.
Roots	roots_
	Root cliques.

Member Function Documentation

◆ GetOrdering()

Ordering gtsam::HybridGaussianISAM::GetOrdering	(	HybridGaussianFactorGraph &	factors,
		const HybridGaussianFactorGraph &	newFactors )

static

Helper method to get an ordering given the existing factors and any new factors added.

Parameters

factors	The existing factors in the BayesTree.
newFactors	New factors added during the update step.

Returns: Ordering

◆ update()

void gtsam::HybridGaussianISAM::update	(	const HybridGaussianFactorGraph &	newFactors,
		const std::optional< size_t > &	maxNrLeaves = {},
		const std::optional< Ordering > &	ordering = {},
		const HybridBayesTree::Eliminate &	function = HybridBayesTree::EliminationTraitsType::DefaultEliminate )

Perform update step with new factors.

Parameters

newFactors	Factor graph of new factors to add and eliminate.
maxNrLeaves	The maximum number of leaves to keep after pruning.
ordering	Custom elimination ordering.
function	Elimination function.

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

/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/hybrid/HybridGaussianISAM.h
/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/hybrid/HybridGaussianISAM.cpp

Detailed Description

Public Member Functions

Static Public Member Functions

Public Types

Additional Inherited Members

Member Function Documentation

◆ GetOrdering()

◆ update()