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ISAM.h
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/* ----------------------------------------------------------------------------
* 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/global_includes.h>
namespace gtsam {
template <class BAYESTREE>
class ISAM : public BAYESTREE {
public:
typedef BAYESTREE Base;
typedef typename Base::BayesNetType BayesNetType;
typedef typename Base::FactorGraphType FactorGraphType;
typedef typename Base::Clique Clique;
typedef typename Base::sharedClique sharedClique;
typedef typename Base::Cliques Cliques;
private:
typedef typename Base::Eliminate Eliminate;
typedef typename Base::EliminationTraitsType EliminationTraitsType;
public:
ISAM() {}
explicit ISAM(const Base& bayesTree) : Base(bayesTree) {}
void update(
const FactorGraphType& newFactors,
const Eliminate& function = EliminationTraitsType::DefaultEliminate);
void updateInternal(
const FactorGraphType& newFactors, Cliques* orphans,
const Eliminate& function = EliminationTraitsType::DefaultEliminate);
};
} // namespace gtsam
global_includes.h
Included from all GTSAM files.
gtsam
Global functions in a separate testing namespace.
Definition chartTesting.h:28
gtsam::EliminationTraits< HybridGaussianFactorGraph >::DefaultEliminate
static std::pair< boost::shared_ptr< ConditionalType >, boost::shared_ptr< FactorType > > DefaultEliminate(const FactorGraphType &factors, const Ordering &keys)
The default dense elimination function.
Definition HybridGaussianFactorGraph.h:82
gtsam::ISAM::update
void update(const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
update the Bayes tree with a set of new factors, typically derived from measurements
Definition ISAM-inst.h:62
gtsam::ISAM::ISAM
ISAM(const Base &bayesTree)
Copy constructor.
Definition ISAM.h:52
gtsam::ISAM::ISAM
ISAM()
Create an empty Bayes Tree.
Definition ISAM.h:49
gtsam::ISAM::updateInternal
void updateInternal(const FactorGraphType &newFactors, Cliques *orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
updateInternal provides access to list of orphans for drawing purposes
Definition ISAM-inst.h:27