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 >:

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

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

newFactors	is a factor graph that contains the new factors
function	an elimination routine

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