gtsam::ISAM< BAYESTREE > Class Template Reference

Detailed Description

template<class BAYESTREE>
class gtsam::ISAM< BAYESTREE >

A Bayes tree with an update methods that implements the iSAM algorithm.

Given a set of new factors, it re-eliminates the invalidated part of the tree.

Inheritance diagram for gtsam::ISAM< BAYESTREE >:

Standard Constructors
	ISAM ()
	Create an empty Bayes Tree.
	ISAM (const Base &bayesTree)
	Copy constructor.

Advanced Interface Interface
void	update (const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
	update the Bayes tree with a set of new factors, typically derived from measurements More...
void	update_internal (const FactorGraphType &newFactors, Cliques &orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
	update_internal provides access to list of orphans for drawing purposes

Public Types
typedef BAYESTREE	Base
typedef Base::BayesNetType	BayesNetType
typedef Base::FactorGraphType	FactorGraphType
typedef Base::Clique	Clique
typedef Base::sharedClique	sharedClique
typedef Base::Cliques	Cliques

Member Function Documentation

update()

template<class BAYESTREE >

void gtsam::ISAM< BAYESTREE >::update	(	const FactorGraphType &	newFactors,
		const Eliminate &	function = EliminationTraitsType::DefaultEliminate
	)

update the Bayes tree with a set of new factors, typically derived from measurements

Parameters

newFactors	is a factor graph that contains the new factors
function	an elimination routine

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

• /Users/dellaert/git/gtsam/gtsam/inference/ISAM.h
• /Users/dellaert/git/gtsam/gtsam/inference/ISAM-inst.h