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) More...

virtual bool	equals (const FixedLagSmoother &rhs, double tol=1e-9) const
	Check if two IncrementalFixedLagSmoother Objects are equal. More...

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 &timestamps=KeyTimestampMap(), const FactorIndices &factorsToRemove=FactorIndices())=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()

virtual Values gtsam::FixedLagSmoother::calculateEstimate ( ) const

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::BatchFixedLagSmoother, and gtsam::IncrementalFixedLagSmoother.

◆ equals()

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

virtual

Check if two IncrementalFixedLagSmoother Objects are equal.

Reimplemented in gtsam::BatchFixedLagSmoother, and gtsam::IncrementalFixedLagSmoother.

◆ print()

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

virtual

Print the factor for debugging and testing (implementing Testable)

Reimplemented in gtsam::BatchFixedLagSmoother, and gtsam::IncrementalFixedLagSmoother.

◆ update()

virtual Result gtsam::FixedLagSmoother::update	(	const NonlinearFactorGraph &	newFactors = `NonlinearFactorGraph()`,
		const Values &	newTheta = `Values()`,
		const KeyTimestampMap &	timestamps = `KeyTimestampMap()`,
		const FactorIndices &	factorsToRemove = `FactorIndices()`
	)

pure virtual

Add new factors, updating the solution and relinearizing as needed.

Implemented in gtsam::BatchFixedLagSmoother, and gtsam::IncrementalFixedLagSmoother.

Member Data Documentation

◆ smootherLag_

double gtsam::FixedLagSmoother::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/github/gtsam_unstable/nonlinear/FixedLagSmoother.h
/Users/dellaert/git/github/gtsam_unstable/nonlinear/FixedLagSmoother.cpp

Public Member Functions

Public Types

Classes

Protected Member Functions