Detailed Description

A Levenberg-Marquardt Batch Smoother that implements the Concurrent Filtering and Smoother interface.

Inheritance diagram for gtsam::ConcurrentBatchSmoother:

Public Member Functions
	ConcurrentBatchSmoother (const LevenbergMarquardtParams &parameters=LevenbergMarquardtParams())
	Default constructor.

	~ConcurrentBatchSmoother () override
	Default destructor.

void	print (const std::string &s="Concurrent Batch Smoother:\n", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	Implement a GTSAM standard 'print' function. More...

bool	equals (const ConcurrentSmoother &rhs, double tol=1e-9) const override
	Check if two Concurrent Smoothers are equal. More...

const NonlinearFactorGraph &	getFactors () const
	Access the current set of factors.

const Values &	getLinearizationPoint () const
	Access the current linearization point.

const Ordering &	getOrdering () const
	Access the current ordering.

const VectorValues &	getDelta () const
	Access the current set of deltas to the linearization point.

Values	calculateEstimate () const
	Compute the current best estimate of all variables and return a full Values structure. More...

template<class VALUE >
VALUE	calculateEstimate (Key key) const
	Compute the current best estimate of a single variable. More...

virtual Result	update (const NonlinearFactorGraph &newFactors=NonlinearFactorGraph(), const Values &newTheta=Values(), const boost::optional< std::vector< size_t > > &removeFactorIndices=boost::none)
	Add new factors and variables to the smoother. More...

void	presync () override
	Perform any required operations before the synchronization process starts. More...

void	getSummarizedFactors (NonlinearFactorGraph &summarizedFactors, Values &separatorValues) override
	Populate the provided containers with factors that constitute the smoother branch summarization needed by the filter. More...

void	synchronize (const NonlinearFactorGraph &smootherFactors, const Values &smootherValues, const NonlinearFactorGraph &summarizedFactors, const Values &separatorValues) override
	Apply the new smoother factors sent by the filter, and the updated version of the filter branch summarized factors. More...

void	postsync () override
	Perform any required operations after the synchronization process finishes. More...

Public Member Functions inherited from gtsam::ConcurrentSmoother
	ConcurrentSmoother ()
	Default constructor.

virtual	~ConcurrentSmoother ()
	Default destructor.

virtual void	print (const std::string &s="Concurrent Smoother:\n", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const =0
	Implement a standard 'print' function. More...

virtual bool	equals (const ConcurrentSmoother &rhs, double tol=1e-9) const =0
	Check if two Concurrent Smoothers are equal. More...

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 smoother branch summarization needed by the filter. More...

virtual void	synchronize (const NonlinearFactorGraph &smootherFactors, const Values &smootherValues, const NonlinearFactorGraph &summarizedFactors, const Values &rootValues)=0
	Apply the new smoother factors sent by the filter, and the updated version of the filter branch summarized factors. More...

virtual void	postsync ()
	Perform any required operations after the synchronization process finishes. More...

Public Types
typedef boost::shared_ptr< ConcurrentBatchSmoother >	shared_ptr

typedef ConcurrentSmoother	Base
	typedef for base class

Public Types inherited from gtsam::ConcurrentSmoother
typedef boost::shared_ptr< ConcurrentSmoother >	shared_ptr

Classes
struct	Result
	Meta information returned about the update. More...

Protected Attributes
LevenbergMarquardtParams	parameters_
	LM parameters.

NonlinearFactorGraph	factors_
	The set of all factors currently in the smoother.

Values	theta_
	Current linearization point of all variables in the smoother.

Ordering	ordering_
	The current ordering used to calculate the linear deltas.

VectorValues	delta_
	The current set of linear deltas from the linearization point.

VariableIndex	variableIndex_
	The current variable index, which allows efficient factor lookup by variable.

std::queue< size_t >	availableSlots_
	The set of available factor graph slots caused by deleting factors.

Values	separatorValues_
	The linearization points of the separator variables. These should not be updated during optimization.

std::vector< size_t >	filterSummarizationSlots_
	The slots in factor graph that correspond to the current filter summarization factors.

NonlinearFactorGraph	smootherSummarization_
	A temporary holding place for calculated smoother summarization.

Member Function Documentation

◆ calculateEstimate() [1/2]

Values gtsam::ConcurrentBatchSmoother::calculateEstimate ( ) const

inline

Compute the current best estimate of all variables and return a full Values structure.

If only a single variable is needed, it may be faster to call calculateEstimate(const KEY&).

◆ calculateEstimate() [2/2]

template<class VALUE >

VALUE gtsam::ConcurrentBatchSmoother::calculateEstimate ( Key key ) const

inline

Compute the current best estimate of a single variable.

This is generally faster than calling the no-argument version of calculateEstimate if only specific variables are needed.

Parameters

key

Returns

◆ equals()

bool gtsam::ConcurrentBatchSmoother::equals	(	const ConcurrentSmoother &	rhs,
		double	tol = `1e-9`
	)		const

overridevirtual

Check if two Concurrent Smoothers are equal.

Implements gtsam::ConcurrentSmoother.

◆ getSummarizedFactors()

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

overridevirtual

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

Parameters

summarizedFactors The summarized factors for the filter branch

Implements gtsam::ConcurrentSmoother.

◆ postsync()

void gtsam::ConcurrentBatchSmoother::postsync ( )

overridevirtual

Perform any required operations after the synchronization process finishes.

Called by 'synchronize'

Reimplemented from gtsam::ConcurrentSmoother.

◆ presync()

void gtsam::ConcurrentBatchSmoother::presync ( )

overridevirtual

Perform any required operations before the synchronization process starts.

Called by 'synchronize'

Reimplemented from gtsam::ConcurrentSmoother.

◆ print()

void gtsam::ConcurrentBatchSmoother::print	(	const std::string &	s = `"Concurrent Batch Smoother:\n"`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

Implement a GTSAM standard 'print' function.

Implements gtsam::ConcurrentSmoother.

◆ synchronize()

void gtsam::ConcurrentBatchSmoother::synchronize	(	const NonlinearFactorGraph &	smootherFactors,
		const Values &	smootherValues,
		const NonlinearFactorGraph &	summarizedFactors,
		const Values &	separatorValues
	)

overridevirtual

Apply the new smoother factors sent by the filter, and the updated version of the filter branch summarized factors.

Parameters

smootherFactors	A set of new factors added to the smoother from the filter
smootherValues	Linearization points for any new variables
summarizedFactors	An updated version of the filter branch summarized factors
rootValues	The linearization point of the root variables

Implements gtsam::ConcurrentSmoother.

◆ update()

ConcurrentBatchSmoother::Result gtsam::ConcurrentBatchSmoother::update	(	const NonlinearFactorGraph &	newFactors = `NonlinearFactorGraph()`,
		const Values &	newTheta = `Values()`,
		const boost::optional< std::vector< size_t > > &	removeFactorIndices = `boost::none`
	)

virtual

Add new factors and variables to the smoother.

Add new measurements, and optionally new variables, to the smoother. This runs a full step of the ISAM2 algorithm, relinearizing and updating the solution as needed, according to the wildfire and relinearize thresholds.

Parameters

newFactors	The new factors to be added to the smoother
newTheta	Initialization points for new variables to be added to the smoother You must include here all new variables occuring in newFactors (which were not already in the smoother). There must not be any variables here that do not occur in newFactors, and additionally, variables that were already in the system must not be included here.

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

/Users/dellaert/git/github/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h
/Users/dellaert/git/github/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp

Detailed Description

Public Member Functions

Public Types

Classes

Protected Attributes

Member Function Documentation

◆ calculateEstimate() [1/2]

◆ calculateEstimate() [2/2]

◆ equals()

◆ getSummarizedFactors()

◆ postsync()

◆ presync()

◆ print()

◆ synchronize()

◆ update()