gtsam  4.1.0
gtsam
gtsam::DeltaImpl Struct Reference

Static Public Member Functions

static size_t UpdateGaussNewtonDelta (const ISAM2::Roots &roots, const KeySet &replacedKeys, double wildfireThreshold, VectorValues *delta)
 Update the Newton's method step point, using wildfire.
 
static size_t UpdateRgProd (const ISAM2::Roots &roots, const KeySet &replacedKeys, const VectorValues &gradAtZero, VectorValues *RgProd)
 Update the RgProd (R*g) incrementally taking into account which variables have been recalculated in replacedKeys. More...
 
static VectorValues ComputeGradientSearch (const VectorValues &gradAtZero, const VectorValues &RgProd)
 Compute the gradient-search point. More...
 

Classes

struct  PartialSolveResult
 
struct  ReorderingMode
 

Member Function Documentation

◆ ComputeGradientSearch()

VectorValues gtsam::DeltaImpl::ComputeGradientSearch ( const VectorValues gradAtZero,
const VectorValues RgProd 
)
static

Compute the gradient-search point.

Only used in Dogleg.

◆ UpdateRgProd()

size_t gtsam::DeltaImpl::UpdateRgProd ( const ISAM2::Roots roots,
const KeySet replacedKeys,
const VectorValues gradAtZero,
VectorValues RgProd 
)
static

Update the RgProd (R*g) incrementally taking into account which variables have been recalculated in replacedKeys.

Only used in Dogleg.


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