gtsam  4.1.0
gtsam
ISAM.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
18 // \callgraph
19 #pragma once
20 
21 #include <gtsam/global_includes.h>
22 
23 namespace gtsam {
24 
30 template <class BAYESTREE>
31 class ISAM : public BAYESTREE {
32  public:
33  typedef BAYESTREE Base;
34  typedef typename Base::BayesNetType BayesNetType;
35  typedef typename Base::FactorGraphType FactorGraphType;
36  typedef typename Base::Clique Clique;
37  typedef typename Base::sharedClique sharedClique;
38  typedef typename Base::Cliques Cliques;
39 
40  private:
41  typedef typename Base::Eliminate Eliminate;
42  typedef typename Base::EliminationTraitsType EliminationTraitsType;
43 
44  public:
47 
49  ISAM() {}
50 
52  explicit ISAM(const Base& bayesTree) : Base(bayesTree) {}
53 
57 
64  void update(
65  const FactorGraphType& newFactors,
66  const Eliminate& function = EliminationTraitsType::DefaultEliminate);
67 
70  void updateInternal(
71  const FactorGraphType& newFactors, Cliques* orphans,
72  const Eliminate& function = EliminationTraitsType::DefaultEliminate);
73 
75 };
76 
77 } // namespace gtsam
gtsam::ISAM::update
void update(const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
update the Bayes tree with a set of new factors, typically derived from measurements
Definition: ISAM-inst.h:62
gtsam::BayesTree< SymbolicBayesTreeClique >
gtsam
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
global_includes.h
Included from all GTSAM files.
gtsam::ISAM::updateInternal
void updateInternal(const FactorGraphType &newFactors, Cliques *orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
updateInternal provides access to list of orphans for drawing purposes
Definition: ISAM-inst.h:27
gtsam::ISAM
A Bayes tree with an update methods that implements the iSAM algorithm.
Definition: ISAM.h:31
gtsam::ISAM::ISAM
ISAM(const Base &bayesTree)
Copy constructor.
Definition: ISAM.h:52
gtsam::ISAM::ISAM
ISAM()
Create an empty Bayes Tree.
Definition: ISAM.h:49