gtsam  4.1.0
gtsam
gtsam::ISAM< BAYESTREE > Class Template Reference

Detailed Description

template<class BAYESTREE>
class gtsam::ISAM< BAYESTREE >

A Bayes tree with an update methods that implements the iSAM algorithm.

Given a set of new factors, it re-eliminates the invalidated part of the tree.

+ Inheritance diagram for gtsam::ISAM< BAYESTREE >:

Standard Constructors

 ISAM ()
 Create an empty Bayes Tree.
 
 ISAM (const Base &bayesTree)
 Copy constructor.
 

Advanced Interface Interface

void update (const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
 update the Bayes tree with a set of new factors, typically derived from measurements More...
 
void updateInternal (const FactorGraphType &newFactors, Cliques *orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
 updateInternal provides access to list of orphans for drawing purposes
 

Public Types

typedef BAYESTREE Base
 
typedef Base::BayesNetType BayesNetType
 
typedef Base::FactorGraphType FactorGraphType
 
typedef Base::Clique Clique
 
typedef Base::sharedClique sharedClique
 
typedef Base::Cliques Cliques
 

Member Function Documentation

◆ update()

template<class BAYESTREE >
void gtsam::ISAM< BAYESTREE >::update ( const FactorGraphType &  newFactors,
const Eliminate &  function = EliminationTraitsType::DefaultEliminate 
)

update the Bayes tree with a set of new factors, typically derived from measurements

Parameters
newFactorsis a factor graph that contains the new factors
functionan elimination routine

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