Loading...
Searching...
No Matches
ISAM2UpdateParams.h
Go to the documentation of this file.
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
// \callgraph
#pragma once
#include <gtsam/base/FastList.h>
#include <gtsam/dllexport.h> // GTSAM_EXPORT
#include <gtsam/inference/Key.h> // Key, KeySet
#include <gtsam/nonlinear/ISAM2Result.h> //FactorIndices
#include <boost/optional.hpp>
namespace gtsam {
struct ISAM2UpdateParams {
ISAM2UpdateParams() = default;
FactorIndices removeFactorIndices;
boost::optional<FastMap<Key, int>> constrainedKeys{boost::none};
boost::optional<FastList<Key>> noRelinKeys{boost::none};
boost::optional<FastList<Key>> extraReelimKeys{boost::none};
bool force_relinearize{false};
boost::optional<FastMap<FactorIndex, KeySet>> newAffectedKeys{boost::none};
bool forceFullSolve{false};
};
} // namespace gtsam
FastList.h
A thin wrapper around std::list that uses boost's fast_pool_allocator.
Key.h
ISAM2Result.h
Class that stores detailed iSAM2 result.
gtsam
Global functions in a separate testing namespace.
Definition chartTesting.h:28
gtsam::FactorIndices
FastVector< FactorIndex > FactorIndices
Define collection types:
Definition Factor.h:34
gtsam::ISAM2UpdateParams::constrainedKeys
boost::optional< FastMap< Key, int > > constrainedKeys
An optional map of keys to group labels, such that a variable can be constrained to a particular grou...
Definition ISAM2UpdateParams.h:40
gtsam::ISAM2UpdateParams::force_relinearize
bool force_relinearize
Relinearize any variables whose delta magnitude is sufficiently large (Params::relinearizeThreshold),...
Definition ISAM2UpdateParams.h:54
gtsam::ISAM2UpdateParams::removeFactorIndices
FactorIndices removeFactorIndices
Indices of factors to remove from system (default: empty).
Definition ISAM2UpdateParams.h:36
gtsam::ISAM2UpdateParams::forceFullSolve
bool forceFullSolve
By default, iSAM2 uses a wildfire update scheme that stops updating when the deltas become too small ...
Definition ISAM2UpdateParams.h:71
gtsam::ISAM2UpdateParams::extraReelimKeys
boost::optional< FastList< Key > > extraReelimKeys
An optional set of nonlinear keys that iSAM2 will re-eliminate, regardless of the size of the linear ...
Definition ISAM2UpdateParams.h:49
gtsam::ISAM2UpdateParams::noRelinKeys
boost::optional< FastList< Key > > noRelinKeys
An optional set of nonlinear keys that iSAM2 will hold at a constant linearization point,...
Definition ISAM2UpdateParams.h:44
gtsam::ISAM2UpdateParams::newAffectedKeys
boost::optional< FastMap< FactorIndex, KeySet > > newAffectedKeys
An optional set of new Keys that are now affected by factors, indexed by factor indices (as returned ...
Definition ISAM2UpdateParams.h:66