gtsam::FastSync< T > Struct Template Reference

Detailed Description

template<class T>
struct gtsam::FastSync< T >

Solver for the fixed-size ambient linear problem underlying FAST-Sync.

The constructor extracts matching BetweenFactor or FrobeniusBetweenFactor measurements and builds the reduced Gaussian graph. solve() performs the ordered Cholesky solve and returns ambient matrix estimates; projectAndAlign() rounds those estimates to T and applies an optional matching PriorFactor or FrobeniusPrior.

Public Member Functions
	FastSync (const NonlinearFactorGraph &graph)
	Extract matching factors, validate their noise models, and build the reduced Gaussian graph.
Values	solve (Ordering::OrderingType orderingType=Ordering::METIS) const
	Solve the relaxed ambient matrix problem and return one matrix per key.
Values	solve (const Ordering &ordering) const
	Solve using a caller-supplied complete ordering.
Values	projectAndAlign (const Values &relaxed) const
	Project relaxed matrices to T and align them to the optional matching prior stored by the constructor.

Static Public Attributes
static constexpr int	N = LieAlgebra::RowsAtCompileTime

Public Types
using	LieAlgebra = typename T::LieAlgebra
using	MatrixN = Eigen::Matrix<double, N, N>
using	VectorN = Eigen::Matrix<double, N, 1>

Constructor & Destructor Documentation

FastSync()

template<class T>

gtsam::FastSync< T >::FastSync ( const NonlinearFactorGraph & graph )

explicit

Extract matching factors, validate their noise models, and build the reduced Gaussian graph.

Factors for other types are ignored.

Member Function Documentation

projectAndAlign()

template<class T>

Values gtsam::FastSync< T >::projectAndAlign

(

const Values &

relaxed

)

const

Project relaxed matrices to T and align them to the optional matching prior stored by the constructor.

The alignment is a single common left transformation, so all relative estimates are preserved. The input must be the complete result of solve().

solve() [1/2]

template<class T>

Values gtsam::FastSync< T >::solve

(

const Ordering &

ordering

)

const

Solve using a caller-supplied complete ordering.

The ordering must contain every measurement-graph key exactly once. Its final key is used as the identity gauge.

Parameters

ordering

Complete variable elimination ordering.

solve() [2/2]

template<class T>

Values gtsam::FastSync< T >::solve

(

Ordering::OrderingType

orderingType = Ordering::METIS

)

const

Solve the relaxed ambient matrix problem and return one matrix per key.

The selected ordering's final key is used as the identity gauge. Cholesky elimination and reverse block back-substitution then recover all ambient N-by-N estimates. Projection to T is intentionally deferred to projectAndAlign().

Parameters

orderingType

Fill-reducing ordering, defaulting to METIS.

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/slam/FastSync.h
• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/slam/FastSync-inl.h