gtsam::NonlinearISAM Class Reference

Detailed Description

Wrapper class to manage ISAM in a nonlinear context.

Public Member Functions
Standard Constructors
	NonlinearISAM (int reorderInterval=1, const GaussianFactorGraph::Eliminate &eliminationFunction=GaussianFactorGraph::EliminationTraitsType::DefaultEliminate)
	Periodically reorder and relinearize. More...
Standard Interface
Values	estimate () const
	Return the current solution estimate.
Matrix	marginalCovariance (Key key) const
	find the marginal covariance for a single variable
const GaussianISAM &	bayesTree () const
	access the underlying bayes tree
const Values &	getLinearizationPoint () const
	Return the current linearization point.
const NonlinearFactorGraph &	getFactorsUnsafe () const
	get underlying nonlinear graph
int	reorderInterval () const
	get counters More...
int	reorderCounter () const
	TODO: comment.
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	prints out all contents of the system
void	printStats () const
	prints out clique statistics
void	saveGraph (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	saves the Tree to a text file in GraphViz format
Advanced Interface
void	update (const NonlinearFactorGraph &newFactors, const Values &initialValues)
	Add new factors along with their initial linearization points.
void	reorder_relinearize ()
	Relinearization and reordering of variables.

Protected Attributes
gtsam::GaussianISAM	isam_
	The internal iSAM object.
Values	linPoint_
	The current linearization point.
NonlinearFactorGraph	factors_
	The original factors, used when relinearizing.
int	reorderInterval_
	The reordering interval and counter.
int	reorderCounter_
GaussianFactorGraph::Eliminate	eliminationFunction_
	The elimination function.

Constructor & Destructor Documentation

NonlinearISAM()

gtsam::NonlinearISAM::NonlinearISAM ( int  reorderInterval = 1, const GaussianFactorGraph::Eliminate &  eliminationFunction = GaussianFactorGraph::EliminationTraitsType::DefaultEliminate  )

inline

Periodically reorder and relinearize.

Parameters

reorderInterval

is the number of updates between reorderings, 0 never reorders (and is dangerous for memory consumption) 1 (default) reorders every time, in worse case is batch every update typical values are 50 or 100

Member Function Documentation

reorderInterval()

int gtsam::NonlinearISAM::reorderInterval ( ) const

inline

get counters

TODO: comment

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

• /Users/dellaert/git/gtsam/gtsam/nonlinear/NonlinearISAM.h
• /Users/dellaert/git/gtsam/gtsam/nonlinear/NonlinearISAM.cpp