ConcurrentFilteringAndSmoothing.cpp File Reference

Base classes for the 'filter' and 'smoother' portion of the Concurrent Filtering and Smoothing architecture, as well as an external synchronization function. More...

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Functions
void	gtsam::synchronize (ConcurrentFilter &filter, ConcurrentSmoother &smoother)
NonlinearFactorGraph	gtsam::internal::calculateMarginalFactors (const NonlinearFactorGraph &graph, const Values &theta, const KeySet &remainingKeys, const GaussianFactorGraph::Eliminate &eliminateFunction)
	Calculate the marginal on the specified keys, returning a set of LinearContainerFactors. More...

Detailed Description

Base classes for the 'filter' and 'smoother' portion of the Concurrent Filtering and Smoothing architecture, as well as an external synchronization function.

These classes act as an interface only.

Author

Stephen Williams

Function Documentation

calculateMarginalFactors()

NonlinearFactorGraph gtsam::internal::calculateMarginalFactors	(	const NonlinearFactorGraph &	graph,
		const Values &	theta,
		const KeySet &	remainingKeys,
		const GaussianFactorGraph::Eliminate &	eliminateFunction
	)

Calculate the marginal on the specified keys, returning a set of LinearContainerFactors.

Unlike other GTSAM functions with similar purposes, this version can operate on disconnected graphs.