Detailed Description

Implementation functions for update method All of the methods below have clear inputs and outputs, even if not functional: iSAM2 is inherintly imperative.

Public Member Functions
	UpdateImpl (const ISAM2Params &params, const ISAM2UpdateParams &updateParams)

bool	relinarizationNeeded (size_t update_count) const

void	pushBackFactors (const NonlinearFactorGraph &newFactors, NonlinearFactorGraph nonlinearFactors, GaussianFactorGraph linearFactors, VariableIndex variableIndex, FactorIndices newFactorsIndices, KeySet *keysWithRemovedFactors) const

void	computeUnusedKeys (const NonlinearFactorGraph &newFactors, const VariableIndex &variableIndex, const KeySet &keysWithRemovedFactors, KeySet *unusedKeys) const

void	error (const NonlinearFactorGraph &nonlinearFactors, const Values &estimate, boost::optional< double > *result) const

void	gatherInvolvedKeys (const NonlinearFactorGraph &newFactors, const NonlinearFactorGraph &nonlinearFactors, const KeySet &keysWithRemovedFactors, KeySet *markedKeys) const

void	updateKeys (const KeySet &markedKeys, ISAM2Result *result) const

KeySet	gatherRelinearizeKeys (const ISAM2::Roots &roots, const VectorValues &delta, const KeySet &fixedVariables, KeySet *markedKeys) const

void	recordRelinearizeDetail (const KeySet &relinKeys, ISAM2Result::DetailedResults *detail) const

void	findFluid (const ISAM2::Roots &roots, const KeySet &relinKeys, KeySet markedKeys, ISAM2Result::DetailedResults detail) const

void	linearizeNewFactors (const NonlinearFactorGraph &newFactors, const Values &theta, size_t numNonlinearFactors, const FactorIndices &newFactorsIndices, GaussianFactorGraph *linearFactors) const

void	augmentVariableIndex (const NonlinearFactorGraph &newFactors, const FactorIndices &newFactorsIndices, VariableIndex *variableIndex) const

Static Public Member Functions
static void	LogStartingUpdate (const NonlinearFactorGraph &newFactors, const ISAM2 &isam2)

static void	CheckRelinearizationRecursiveMap (const FastMap< char, Vector > &thresholds, const VectorValues &delta, const ISAM2::sharedClique &clique, KeySet *relinKeys)

static void	CheckRelinearizationRecursiveDouble (double threshold, const VectorValues &delta, const ISAM2::sharedClique &clique, KeySet *relinKeys)

static KeySet	CheckRelinearizationPartial (const ISAM2::Roots &roots, const VectorValues &delta, const ISAM2Params::RelinearizationThreshold &relinearizeThreshold)
	Find the set of variables to be relinearized according to relinearizeThreshold. More...

static KeySet	CheckRelinearizationFull (const VectorValues &delta, const ISAM2Params::RelinearizationThreshold &relinearizeThreshold)
	Find the set of variables to be relinearized according to relinearizeThreshold. More...

static void	ExpmapMasked (const VectorValues &delta, const KeySet &mask, Values *theta)
	Apply expmap to the given values, but only for indices appearing in `mask`. More...

static void	LogRecalculateKeys (const ISAM2Result &result)

static FactorIndexSet	GetAffectedFactors (const KeyList &keys, const VariableIndex &variableIndex)

static GaussianFactorGraph	GetCachedBoundaryFactors (const ISAM2::Cliques &orphans)

Public Attributes
const ISAM2Params &	params_

const ISAM2UpdateParams &	updateParams_

Member Function Documentation

◆ CheckRelinearizationFull()

static KeySet gtsam::UpdateImpl::CheckRelinearizationFull	(	const VectorValues &	delta,
		const ISAM2Params::RelinearizationThreshold &	relinearizeThreshold
	)

inlinestatic

Find the set of variables to be relinearized according to relinearizeThreshold.

Any variables in the VectorValues delta whose vector magnitude is greater than or equal to relinearizeThreshold are returned.

Parameters

delta	The linear delta to check against the threshold
keyFormatter	Formatter for printing nonlinear keys during debugging

Returns: The set of variable indices in delta whose magnitude is greater than or equal to relinearizeThreshold

◆ CheckRelinearizationPartial()

static KeySet gtsam::UpdateImpl::CheckRelinearizationPartial	(	const ISAM2::Roots &	roots,
		const VectorValues &	delta,
		const ISAM2Params::RelinearizationThreshold &	relinearizeThreshold
	)

inlinestatic

Find the set of variables to be relinearized according to relinearizeThreshold.

This check is performed recursively, starting at the top of the tree. Once a variable in the tree does not need to be relinearized, no further checks in that branch are performed. This is an approximation of the Full version, designed to save time at the expense of accuracy.

Parameters

delta	The linear delta to check against the threshold
keyFormatter	Formatter for printing nonlinear keys during debugging

Returns: The set of variable indices in delta whose magnitude is greater than or equal to relinearizeThreshold

◆ ExpmapMasked()

static void gtsam::UpdateImpl::ExpmapMasked	(	const VectorValues &	delta,
		const KeySet &	mask,
		Values *	theta
	)

inlinestatic

Apply expmap to the given values, but only for indices appearing in mask.

Values are expmapped in-place.

Parameters

mask	Mask on linear indices, only `true` entries are expmapped

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

/Users/dellaert/git/github/gtsam/nonlinear/ISAM2-impl.h

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Member Function Documentation

◆ CheckRelinearizationFull()

◆ CheckRelinearizationPartial()

◆ ExpmapMasked()