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.
static VectorValues	ComputeGradientSearch (const VectorValues &gradAtZero, const VectorValues &RgProd)
	Compute the gradient-search point.

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.

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

• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/nonlinear/ISAM2-impl.h
• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/nonlinear/ISAM2-impl.cpp