ISAM2-impl.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/linear/GaussianBayesTree.h>
#include <gtsam/nonlinear/ISAM2.h>

namespace gtsam {

struct GTSAM_EXPORT ISAM2::Impl {
  struct GTSAM_EXPORT PartialSolveResult {
    ISAM2::sharedClique bayesTree;
  };

  struct GTSAM_EXPORT ReorderingMode {
    size_t nFullSystemVars;
    enum { /*AS_ADDED,*/ COLAMD } algorithm;
    enum { NO_CONSTRAINT, CONSTRAIN_LAST } constrain;
    boost::optional<FastMap<Key, int> > constrainedKeys;
  };

  static void AddFactorsStep1(const NonlinearFactorGraph& newFactors, bool useUnusedSlots,
    NonlinearFactorGraph* nonlinearFactors, FactorIndices* newFactorIndices);

  static KeySet CheckRelinearizationFull(const VectorValues& delta,
      const ISAM2Params::RelinearizationThreshold& relinearizeThreshold);

  static KeySet CheckRelinearizationPartial(const ISAM2::Roots& roots,
    const VectorValues& delta, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold);

  static size_t UpdateGaussNewtonDelta(const ISAM2::Roots& roots,
      const KeySet& replacedKeys, double wildfireThreshold, VectorValues* delta);

  static size_t UpdateRgProd(const ISAM2::Roots& roots, const KeySet& replacedKeys,
      const VectorValues& gradAtZero, VectorValues* RgProd);

  static VectorValues ComputeGradientSearch(const VectorValues& gradAtZero,
                                            const VectorValues& RgProd);

};

}