gtsam
4.1.0
gtsam

Public Member Functions  
ISAM2Result (bool enableDetailedResults=false)  
DetailedResults *  details () 
Return pointer to detail, 0 if no detail requested.  
void  print (const std::string str="") const 
Print results.  
size_t  getVariablesRelinearized () const 
Getters and Setters.  
size_t  getVariablesReeliminated () const 
size_t  getCliques () const 
double  getErrorBefore () const 
double  getErrorAfter () const 
Public Attributes  
boost::optional< double >  errorBefore 
The nonlinear error of all of the factors, including new factors and variables added during the current call to ISAM2::update(). More...  
boost::optional< double >  errorAfter 
The nonlinear error of all of the factors computed after the current update, meaning that variables above the relinearization threshold (ISAM2Params::relinearizeThreshold) have been relinearized and new variables have undergone one linear update. More...  
size_t  variablesRelinearized 
The number of variables that were relinearized because their linear deltas exceeded the reslinearization threshold (ISAM2Params::relinearizeThreshold), combined with any additional variables that had to be relinearized because they were involved in the same factor as a variable above the relinearization threshold. More...  
size_t  variablesReeliminated 
The number of variables that were reeliminated as parts of the Bayes' Tree were recalculated, due to new factors. More...  
size_t  factorsRecalculated 
The number of factors that were included in reelimination of the Bayes' tree.  
size_t  cliques 
The number of cliques in the Bayes' Tree.  
FactorIndices  newFactorsIndices 
The indices of the newlyadded factors, in 1to1 correspondence with the factors passed as newFactors to ISAM2::update(). More...  
KeySet  unusedKeys 
Unused keys, and indices for unused keys, i.e., keys that are empty now and do not appear in the new factors.  
KeyVector  observedKeys 
keys for variables that were observed, i.e., not unused.  
KeySet  keysWithRemovedFactors 
Keys of variables that had factors removed.  
KeySet  markedKeys 
All keys that were marked during the update process.  
boost::optional< DetailedResults >  detail 
Detailed results, if enabled by ISAM2Params::enableDetailedResults. More...  
Classes  
struct  DetailedResults 
A struct holding detailed results, which must be enabled with ISAM2Params::enableDetailedResults. More...  
boost::optional<DetailedResults> gtsam::ISAM2Result::detail 
Detailed results, if enabled by ISAM2Params::enableDetailedResults.
See Detail for information about the results data stored here.
boost::optional<double> gtsam::ISAM2Result::errorAfter 
The nonlinear error of all of the factors computed after the current update, meaning that variables above the relinearization threshold (ISAM2Params::relinearizeThreshold) have been relinearized and new variables have undergone one linear update.
Variable values are again computed by combining their linearization points with their partial linear deltas, by ISAM2::calculateEstimate().
true
, because there is some cost to this computation. boost::optional<double> gtsam::ISAM2Result::errorBefore 
The nonlinear error of all of the factors, including new factors and variables added during the current call to ISAM2::update().
This error is calculated using the following variable values:
true
, because there is some cost to this computation. FactorIndices gtsam::ISAM2Result::newFactorsIndices 
The indices of the newlyadded factors, in 1to1 correspondence with the factors passed as newFactors
to ISAM2::update().
These indices may be used later to refer to the factors in order to remove them.
size_t gtsam::ISAM2Result::variablesReeliminated 
The number of variables that were reeliminated as parts of the Bayes' Tree were recalculated, due to new factors.
When loop closures occur, this count will be large as the new loopclosing factors will tend to involve variables far away from the root, and everything up to the root will be reeliminated.
size_t gtsam::ISAM2Result::variablesRelinearized 
The number of variables that were relinearized because their linear deltas exceeded the reslinearization threshold (ISAM2Params::relinearizeThreshold), combined with any additional variables that had to be relinearized because they were involved in the same factor as a variable above the relinearization threshold.
On steps where no relinearization is considered (see ISAM2Params::relinearizeSkip), this count will be zero.