gtsam  4.1.0
gtsam
ISAM2UpdateParams.h
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1 /* ----------------------------------------------------------------------------
2  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
3  * Atlanta, Georgia 30332-0415
4  * All Rights Reserved
5  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
6  * See LICENSE for the license information
7  * -------------------------------------------------------------------------- */
8 
15 // \callgraph
16 
17 #pragma once
18 
19 #include <gtsam/base/FastList.h>
20 #include <gtsam/dllexport.h> // GTSAM_EXPORT
21 #include <gtsam/inference/Key.h> // Key, KeySet
22 #include <gtsam/nonlinear/ISAM2Result.h> //FactorIndices
23 #include <boost/optional.hpp>
24 
25 namespace gtsam {
26 
33  ISAM2UpdateParams() = default;
34 
37 
40  boost::optional<FastMap<Key, int>> constrainedKeys{boost::none};
41 
44  boost::optional<FastList<Key>> noRelinKeys{boost::none};
45 
49  boost::optional<FastList<Key>> extraReelimKeys{boost::none};
50 
54  bool force_relinearize{false};
55 
66  boost::optional<FastMap<FactorIndex, KeySet>> newAffectedKeys{boost::none};
67 
71  bool forceFullSolve{false};
72 };
73 
74 } // namespace gtsam
gtsam::ISAM2UpdateParams::newAffectedKeys
boost::optional< FastMap< FactorIndex, KeySet > > newAffectedKeys
An optional set of new Keys that are now affected by factors, indexed by factor indices (as returned ...
Definition: ISAM2UpdateParams.h:66
gtsam::ISAM2UpdateParams::force_relinearize
bool force_relinearize
Relinearize any variables whose delta magnitude is sufficiently large (Params::relinearizeThreshold),...
Definition: ISAM2UpdateParams.h:54
gtsam::ISAM2UpdateParams::removeFactorIndices
FactorIndices removeFactorIndices
Indices of factors to remove from system (default: empty)
Definition: ISAM2UpdateParams.h:36
ISAM2Result.h
Class that stores detailed iSAM2 result.
gtsam::ISAM2UpdateParams::extraReelimKeys
boost::optional< FastList< Key > > extraReelimKeys
An optional set of nonlinear keys that iSAM2 will re-eliminate, regardless of the size of the linear ...
Definition: ISAM2UpdateParams.h:49
gtsam::ISAM2UpdateParams::noRelinKeys
boost::optional< FastList< Key > > noRelinKeys
An optional set of nonlinear keys that iSAM2 will hold at a constant linearization point,...
Definition: ISAM2UpdateParams.h:44
gtsam
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
gtsam::ISAM2UpdateParams::forceFullSolve
bool forceFullSolve
By default, iSAM2 uses a wildfire update scheme that stops updating when the deltas become too small ...
Definition: ISAM2UpdateParams.h:71
gtsam::FactorIndices
FastVector< FactorIndex > FactorIndices
Define collection types:
Definition: Factor.h:32
Key.h
gtsam::ISAM2UpdateParams
Definition: ISAM2UpdateParams.h:32
FastList.h
A thin wrapper around std::list that uses boost's fast_pool_allocator.
gtsam::ISAM2UpdateParams::constrainedKeys
boost::optional< FastMap< Key, int > > constrainedKeys
An optional map of keys to group labels, such that a variable can be constrained to a particular grou...
Definition: ISAM2UpdateParams.h:40