gtsam  4.0.0 gtsam
gtsam::ConcurrentBatchSmoother Class Reference

## Detailed Description

A Levenberg-Marquardt Batch Smoother that implements the Concurrent Filtering and Smoother interface.

Inheritance diagram for gtsam::ConcurrentBatchSmoother:

## Public Member Functions

ConcurrentBatchSmoother (const LevenbergMarquardtParams &parameters=LevenbergMarquardtParams())
Default constructor.

virtual ~ConcurrentBatchSmoother ()
Default destructor.

virtual void print (const std::string &s="Concurrent Batch Smoother:\n", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
Implement a GTSAM standard 'print' function.

virtual bool equals (const ConcurrentSmoother &rhs, double tol=1e-9) const
Check if two Concurrent Smoothers are equal.

const NonlinearFactorGraphgetFactors () const
Access the current set of factors.

const ValuesgetLinearizationPoint () const
Access the current linearization point.

const OrderinggetOrdering () const
Access the current ordering.

const VectorValuesgetDelta () const
Access the current set of deltas to the linearization point.

Values calculateEstimate () const
Compute the current best estimate of all variables and return a full Values structure. More...

template<class VALUE >
VALUE calculateEstimate (Key key) const
Compute the current best estimate of a single variable. More...

virtual Result update (const NonlinearFactorGraph &newFactors=NonlinearFactorGraph(), const Values &newTheta=Values(), const boost::optional< std::vector< size_t > > &removeFactorIndices=boost::none)
Add new factors and variables to the smoother. More...

virtual void presync ()
Perform any required operations before the synchronization process starts. More...

virtual void getSummarizedFactors (NonlinearFactorGraph &summarizedFactors, Values &separatorValues)
Populate the provided containers with factors that constitute the smoother branch summarization needed by the filter. More...

virtual void synchronize (const NonlinearFactorGraph &smootherFactors, const Values &smootherValues, const NonlinearFactorGraph &summarizedFactors, const Values &separatorValues)
Apply the new smoother factors sent by the filter, and the updated version of the filter branch summarized factors. More...

virtual void postsync ()
Perform any required operations after the synchronization process finishes. More...

## Public Types

typedef boost::shared_ptr< ConcurrentBatchSmoothershared_ptr

typedef ConcurrentSmoother Base
typedef for base class

## Classes

struct  Result
Meta information returned about the update. More...

## Protected Attributes

LevenbergMarquardtParams parameters_
LM parameters.

NonlinearFactorGraph factors_
The set of all factors currently in the smoother.

Values theta_
Current linearization point of all variables in the smoother.

Ordering ordering_
The current ordering used to calculate the linear deltas.

VectorValues delta_
The current set of linear deltas from the linearization point.

VariableIndex variableIndex_
The current variable index, which allows efficient factor lookup by variable.

std::queue< size_t > availableSlots_
The set of available factor graph slots caused by deleting factors.

Values separatorValues_
The linearization points of the separator variables. These should not be updated during optimization.

std::vector< size_t > filterSummarizationSlots_
The slots in factor graph that correspond to the current filter summarization factors.

NonlinearFactorGraph smootherSummarization_
A temporary holding place for calculated smoother summarization.

## ◆ calculateEstimate() [1/2]

 Values gtsam::ConcurrentBatchSmoother::calculateEstimate ( ) const
inline

Compute the current best estimate of all variables and return a full Values structure.

If only a single variable is needed, it may be faster to call calculateEstimate(const KEY&).

## ◆ calculateEstimate() [2/2]

template<class VALUE >
 VALUE gtsam::ConcurrentBatchSmoother::calculateEstimate ( Key key ) const
inline

Compute the current best estimate of a single variable.

This is generally faster than calling the no-argument version of calculateEstimate if only specific variables are needed.

Parameters
 key
Returns

## ◆ getSummarizedFactors()

 void gtsam::ConcurrentBatchSmoother::getSummarizedFactors ( NonlinearFactorGraph & summarizedFactors, Values & separatorValues )
virtual

Populate the provided containers with factors that constitute the smoother branch summarization needed by the filter.

Parameters
 summarizedFactors The summarized factors for the filter branch

Implements gtsam::ConcurrentSmoother.

## ◆ postsync()

 void gtsam::ConcurrentBatchSmoother::postsync ( )
virtual

Perform any required operations after the synchronization process finishes.

Called by 'synchronize'

Reimplemented from gtsam::ConcurrentSmoother.

## ◆ presync()

 void gtsam::ConcurrentBatchSmoother::presync ( )
virtual

Perform any required operations before the synchronization process starts.

Called by 'synchronize'

Reimplemented from gtsam::ConcurrentSmoother.

## ◆ synchronize()

 void gtsam::ConcurrentBatchSmoother::synchronize ( const NonlinearFactorGraph & smootherFactors, const Values & smootherValues, const NonlinearFactorGraph & summarizedFactors, const Values & separatorValues )
virtual

Apply the new smoother factors sent by the filter, and the updated version of the filter branch summarized factors.

Parameters
 smootherFactors A set of new factors added to the smoother from the filter smootherValues Linearization points for any new variables summarizedFactors An updated version of the filter branch summarized factors rootValues The linearization point of the root variables

Implements gtsam::ConcurrentSmoother.

## ◆ update()

 ConcurrentBatchSmoother::Result gtsam::ConcurrentBatchSmoother::update ( const NonlinearFactorGraph & newFactors = NonlinearFactorGraph(), const Values & newTheta = Values(), const boost::optional< std::vector< size_t > > & removeFactorIndices = boost::none )
virtual

Add new factors and variables to the smoother.

Add new measurements, and optionally new variables, to the smoother. This runs a full step of the ISAM2 algorithm, relinearizing and updating the solution as needed, according to the wildfire and relinearize thresholds.

Parameters
 newFactors The new factors to be added to the smoother newTheta Initialization points for new variables to be added to the smoother You must include here all new variables occuring in newFactors (which were not already in the smoother). There must not be any variables here that do not occur in newFactors, and additionally, variables that were already in the system must not be included here.

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