ISAM2-impl.cpp File Reference

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

Namespaces
namespace	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