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gtsam::FixedLagSmoother Class Referenceabstract
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).
virtual bool equals (const FixedLagSmoother &rhs, double tol=1e-9) const
 Check if two IncrementalFixedLagSmoother Objects are equal.
double smootherLag () const
 read the current smoother lag
double & smootherLag ()
 write to the current smoother lag
void setSmootherLag (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.
virtual Values calculateEstimate () const =0
 Compute an estimate from the incomplete linear delta computed during the last update.
virtual Values calculateEstimate (const KeyVector &keys) const
 Compute estimates for a set of variables only, as a Values holding those keys, whatever their types.

Public Types

typedef std::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.
TimestampKeyMap timestampKeyMap_
 The current timestamp associated with each tracked key.
KeyTimestampMap keyTimestampMap_

Member Function Documentation

◆ calculateEstimate() [1/2]

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.

◆ calculateEstimate() [2/2]

virtual Values gtsam::FixedLagSmoother::calculateEstimate ( const KeyVector & keys) const
inlinevirtual

Compute estimates for a set of variables only, as a Values holding those keys, whatever their types.

The default retracts the whole window and extracts; subclasses override it with a per-key path.

Parameters
keysThe keys to estimate; must be unique.
Exceptions
ValuesKeyDoesNotExistif a key is not in the smoother.

Reimplemented 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.

◆ setSmootherLag()

void gtsam::FixedLagSmoother::setSmootherLag ( double smootherLag)
inline

Write to the current smoother lag.

Made for python bindings.

◆ 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: