Detailed Description

Struct Containing all configuration parameters for riSAM.

See below for details on each parameters.

Public Member Functions
	RISAMParams (ISAM2Params isam2Params=ISAM2Params(), bool incrementOutlierMu=true, double outlierMuChiSquaredUpperBound=0.95, double outlierMuChiSquaredLowerBound=0.25, double outlierMuAverageVariableConvergenceThreshold=0.01, size_t numberExtraIterations=1)
	Explicit constructor to use default values.

Public Attributes
ISAM2Params	isam2Params
	The parameters for the encapsulated iSAM2 algorithm @Note some are overridden in RISAM::RISAM().
bool	incrementOutlierMu
	Flag to increment muInit when the value estimate converges.
double	outlierMuChiSquaredUpperBound
	Increment muInit if chi^2 > upper bound.
double	outlierMuChiSquaredLowerBound
	Decrement muInit if chi^2 < lower bound.
double	outlierMuAverageVariableConvergenceThreshold
	Average variable delta threshold to identify value convergence.
size_t	numberExtraIterations
	The number of extra iterations to perform after mu convergence.

The documentation for this struct was generated from the following file:

Public Member Functions