gtsam  4.1.0
gtsam
ISAM2-impl.cpp File Reference

Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization. More...

Namespaces

 gtsam
 Global functions in a separate testing namespace.
 

Functions

void gtsam::internal::updateRgProd (const ISAM2::sharedClique &clique, const KeySet &replacedKeys, const VectorValues &grad, VectorValues *RgProd, size_t *varsUpdated)
 

Detailed Description

Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.

Author
Michael Kaess
Richard Roberts