Detailed Description

A Levenberg-Marquardt Batch Filter that implements the Concurrent Filtering and Smoother interface.

Inheritance diagram for gtsam::ConcurrentBatchFilter:

Public Member Functions
	ConcurrentBatchFilter (const LevenbergMarquardtParams &parameters=LevenbergMarquardtParams())
	Default constructor.

	~ConcurrentBatchFilter () override
	Default destructor.

void	print (const std::string &s="Concurrent Batch Filter:\n", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	Implement a GTSAM standard 'print' function. More...

bool	equals (const ConcurrentFilter &rhs, double tol=1e-9) const override
	Check if two Concurrent Filters are equal. More...

const NonlinearFactorGraph &	getFactors () const
	Access the current set of factors.

const Values &	getLinearizationPoint () const
	Access the current linearization point.

const Ordering &	getOrdering () const
	Access the current ordering.

const VectorValues &	getDelta () const
	Access the current set of deltas to the linearization point.

Values	calculateEstimate () const
	Compute the current best estimate of all variables and return a full Values structure. More...

template<class VALUE >
VALUE	calculateEstimate (Key key) const
	Compute the current best estimate of a single variable. More...

virtual Result	update (const NonlinearFactorGraph &newFactors=NonlinearFactorGraph(), const Values &newTheta=Values(), const boost::optional< FastList< Key > > &keysToMove=boost::none, const boost::optional< std::vector< size_t > > &removeFactorIndices=boost::none)
	Add new factors and variables to the filter. More...

void	presync () override
	Perform any required operations before the synchronization process starts. More...

void	getSummarizedFactors (NonlinearFactorGraph &filterSummarization, Values &filterSummarizationValues) override
	Populate the provided containers with factors that constitute the filter branch summarization needed by the smoother. More...

void	getSmootherFactors (NonlinearFactorGraph &smootherFactors, Values &smootherValues) override
	Populate the provided containers with factors being sent to the smoother from the filter. More...

void	synchronize (const NonlinearFactorGraph &smootherSummarization, const Values &smootherSummarizationValues) override
	Apply the updated version of the smoother branch summarized factors. More...

void	postsync () override
	Perform any required operations after the synchronization process finishes. More...

Public Member Functions inherited from gtsam::ConcurrentFilter
	ConcurrentFilter ()
	Default constructor.

virtual	~ConcurrentFilter ()
	Default destructor.

virtual void	print (const std::string &s="Concurrent Filter:\n", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const =0
	Implement a standard 'print' function. More...

virtual bool	equals (const ConcurrentFilter &rhs, double tol=1e-9) const =0
	Check if two Concurrent Smoothers are equal. More...

virtual void	presync ()
	Perform any required operations before the synchronization process starts. More...

virtual void	getSummarizedFactors (NonlinearFactorGraph &summarizedFactors, Values &separatorValues)=0
	Populate the provided containers with factors that constitute the filter branch summarization needed by the smoother. More...

virtual void	getSmootherFactors (NonlinearFactorGraph &smootherFactors, Values &smootherValues)=0
	Populate the provided containers with factors being sent to the smoother from the filter. More...

virtual void	synchronize (const NonlinearFactorGraph &summarizedFactors, const Values &separatorValues)=0
	Apply the updated version of the smoother branch summarized factors. More...

virtual void	postsync ()
	Perform any required operations after the synchronization process finishes. More...

Public Types
typedef boost::shared_ptr< ConcurrentBatchFilter >	shared_ptr

typedef ConcurrentFilter	Base
	typedef for base class

Public Types inherited from gtsam::ConcurrentFilter
typedef boost::shared_ptr< ConcurrentFilter >	shared_ptr

Classes
struct	Result
	Meta information returned about the update. More...

Protected Attributes
LevenbergMarquardtParams	parameters_
	LM parameters.

NonlinearFactorGraph	factors_
	The set of all factors currently in the filter.

Values	theta_
	Current linearization point of all variables in the filter.

Ordering	ordering_
	The current ordering used to calculate the linear deltas.

VectorValues	delta_
	The current set of linear deltas from the linearization point.

std::queue< size_t >	availableSlots_
	The set of available factor graph slots caused by deleting factors.

Values	separatorValues_
	The linearization points of the separator variables. These should not be updated during optimization.

std::vector< size_t >	separatorSummarizationSlots_
	The slots in factor graph that correspond to the current smoother summarization on the current separator.

NonlinearFactorGraph	smootherSummarization_
	The smoother summarization on the old separator sent by the smoother during the last synchronization.

NonlinearFactorGraph	smootherShortcut_
	A set of conditional factors from the old separator to the current separator (recursively calculated during each filter update)

NonlinearFactorGraph	filterSummarization_
	A temporary holding place for calculated filter summarization factors to be sent to the smoother.

NonlinearFactorGraph	smootherFactors_
	A temporary holding place for the set of full nonlinear factors being sent to the smoother.

Values	smootherValues_
	A temporary holding place for the linearization points of all keys being sent to the smoother.

Member Function Documentation

◆ calculateEstimate() [1/2]

Values gtsam::ConcurrentBatchFilter::calculateEstimate ( ) const

inline

Compute the current best estimate of all variables and return a full Values structure.

If only a single variable is needed, it may be faster to call calculateEstimate(const KEY&).

◆ calculateEstimate() [2/2]

template<class VALUE >

VALUE gtsam::ConcurrentBatchFilter::calculateEstimate ( Key key ) const

inline

Compute the current best estimate of a single variable.

This is generally faster than calling the no-argument version of calculateEstimate if only specific variables are needed.

Parameters

key

Returns

◆ equals()

bool gtsam::ConcurrentBatchFilter::equals	(	const ConcurrentFilter &	rhs,
		double	tol = `1e-9`
	)		const

overridevirtual

Check if two Concurrent Filters are equal.

Implements gtsam::ConcurrentFilter.

◆ getSmootherFactors()

void gtsam::ConcurrentBatchFilter::getSmootherFactors	(	NonlinearFactorGraph &	smootherFactors,
		Values &	smootherValues
	)

overridevirtual

Populate the provided containers with factors being sent to the smoother from the filter.

These may be original nonlinear factors, or factors encoding a summarization of the filter information. The specifics will be implementation-specific for a given filter.

Parameters

smootherFactors	The new factors to be added to the smoother
smootherValues	The linearization points of any new variables

Implements gtsam::ConcurrentFilter.

◆ getSummarizedFactors()

void gtsam::ConcurrentBatchFilter::getSummarizedFactors	(	NonlinearFactorGraph &	filterSummarization,
		Values &	filterSummarizationValues
	)

overridevirtual

Populate the provided containers with factors that constitute the filter branch summarization needed by the smoother.

Also, linearization points for the new root clique must be provided.

Parameters

summarizedFactors	The summarized factors for the filter branch
rootValues	The linearization points of the root clique variables

Implements gtsam::ConcurrentFilter.

◆ postsync()

void gtsam::ConcurrentBatchFilter::postsync ( )

overridevirtual

Perform any required operations after the synchronization process finishes.

Called by 'synchronize'

Reimplemented from gtsam::ConcurrentFilter.

◆ presync()

void gtsam::ConcurrentBatchFilter::presync ( )

overridevirtual

Perform any required operations before the synchronization process starts.

Called by 'synchronize'

Reimplemented from gtsam::ConcurrentFilter.

◆ print()

void gtsam::ConcurrentBatchFilter::print	(	const std::string &	s = `"Concurrent Batch Filter:\n"`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

Implement a GTSAM standard 'print' function.

Implements gtsam::ConcurrentFilter.

◆ synchronize()

void gtsam::ConcurrentBatchFilter::synchronize	(	const NonlinearFactorGraph &	smootherSummarization,
		const Values &	smootherSummarizationValues
	)

overridevirtual

Apply the updated version of the smoother branch summarized factors.

Parameters

summarizedFactors An updated version of the smoother branch summarized factors

Implements gtsam::ConcurrentFilter.

◆ update()

ConcurrentBatchFilter::Result gtsam::ConcurrentBatchFilter::update	(	const NonlinearFactorGraph &	newFactors = `NonlinearFactorGraph()`,
		const Values &	newTheta = `Values()`,
		const boost::optional< FastList< Key > > &	keysToMove = `boost::none`,
		const boost::optional< std::vector< size_t > > &	removeFactorIndices = `boost::none`
	)

virtual

Add new factors and variables to the filter.

Add new measurements, and optionally new variables, to the filter. This runs a full update step of the derived filter algorithm

Parameters

newFactors	The new factors to be added to the smoother
newTheta	Initialization points for new variables to be added to the filter You must include here all new variables occurring in newFactors that were not already in the filter.
keysToMove	An optional set of keys to move from the filter to the smoother
removeFactorIndices	An optional set of indices corresponding to the factors you want to remove from the graph

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

/Users/dellaert/git/github/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h
/Users/dellaert/git/github/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp

Detailed Description

Public Member Functions

Public Types

Classes

Protected Attributes

Member Function Documentation

◆ calculateEstimate() [1/2]

◆ calculateEstimate() [2/2]

◆ equals()

◆ getSmootherFactors()

◆ getSummarizedFactors()

◆ postsync()

◆ presync()

◆ print()

◆ synchronize()

◆ update()