Detailed Description
The interface for the 'Filter' portion of the Concurrent Filtering and Smoother architecture.
Inheritance diagram for gtsam::ConcurrentFilter:
Public Member Functions | |
| 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< ConcurrentFilter > | shared_ptr |
Member Function Documentation
◆ equals()
|
pure virtual |
Check if two Concurrent Smoothers are equal.
Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.
◆ getSmootherFactors()
|
pure virtual |
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
Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.
◆ getSummarizedFactors()
|
pure virtual |
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 separatorValues The linearization points of the separator variables
Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.
◆ postsync()
|
inlinevirtual |
Perform any required operations after the synchronization process finishes.
Called by 'synchronize'
Reimplemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.
◆ presync()
|
inlinevirtual |
Perform any required operations before the synchronization process starts.
Called by 'synchronize'
Reimplemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.
◆ print()
|
pure virtual |
Implement a standard 'print' function.
Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.
◆ synchronize()
|
pure virtual |
Apply the updated version of the smoother branch summarized factors.
- Parameters
-
summarizedFactors An updated version of the smoother branch summarized factors separatorValues The linearization points of the separator variables
Implemented in gtsam::ConcurrentBatchFilter, and gtsam::ConcurrentIncrementalFilter.
The documentation for this class was generated from the following file:
- /Users/dellaert/git/github/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h
