Detailed Description

The interface for the 'Smoother' portion of the Concurrent Filtering and Smoother architecture.

Inheritance diagram for gtsam::ConcurrentSmoother:

Public Member Functions
	ConcurrentSmoother ()
	Default constructor.

virtual	~ConcurrentSmoother ()
	Default destructor.

virtual void	print (const std::string &s="Concurrent Smoother:\n", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const =0
	Implement a standard 'print' function.

virtual bool	equals (const ConcurrentSmoother &rhs, double tol=1e-9) const =0
	Check if two Concurrent Smoothers are equal.

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

virtual void	getSummarizedFactors (NonlinearFactorGraph &summarizedFactors, Values &separatorValues)=0
	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 &rootValues)=0
	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< ConcurrentSmoother >	shared_ptr

Member Function Documentation

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

pure 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
separatorValues	The linearization points of the separator variables

virtual void gtsam::ConcurrentSmoother::postsync ( )

inlinevirtual

Perform any required operations after the synchronization process finishes.

Called by 'synchronize'

virtual void gtsam::ConcurrentSmoother::presync ( )

inlinevirtual

Perform any required operations before the synchronization process starts.

Called by 'synchronize'

virtual void gtsam::ConcurrentSmoother::synchronize	(	const NonlinearFactorGraph &	smootherFactors,
		const Values &	smootherValues,
		const NonlinearFactorGraph &	summarizedFactors,
		const Values &	rootValues
	)

pure 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

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

/Users/dellaert/git/gtsam/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h
/Users/dellaert/git/gtsam/gtsam_unstable/gtsam_unstable.h