60 reorderInterval_(reorderInterval), reorderCounter_(0), eliminationFunction_(eliminationFunction) {}
70 Matrix marginalCovariance(
Key key)
const;
88 void print(
const std::string& s=
"",
const KeyFormatter& keyFormatter = DefaultKeyFormatter)
const;
91 void printStats()
const;
94 void saveGraph(
const std::string& s,
const KeyFormatter& keyFormatter = DefaultKeyFormatter)
const;
104 void reorder_relinearize();
Factor Graph consisting of non-linear factors.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition Matrix.cpp:156
std::uint64_t Key
Integer nonlinear key type.
Definition types.h:100
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition Key.h:35
std::function< EliminationResult(const FactorGraphType &, const Ordering &)> Eliminate
The function type that does a single dense elimination step on a subgraph.
Definition EliminateableFactorGraph.h:89
Definition GaussianISAM.h:28
Definition NonlinearFactorGraph.h:55
Wrapper class to manage ISAM in a nonlinear context.
Definition NonlinearISAM.h:27
GaussianFactorGraph::Eliminate eliminationFunction_
The elimination function.
Definition NonlinearISAM.h:44
NonlinearFactorGraph factors_
The original factors, used when relinearizing.
Definition NonlinearISAM.h:37
const GaussianISAM & bayesTree() const
access the underlying bayes tree
Definition NonlinearISAM.h:75
int reorderInterval() const
get counters
Definition NonlinearISAM.h:84
NonlinearISAM(int reorderInterval=1, const GaussianFactorGraph::Eliminate &eliminationFunction=GaussianFactorGraph::EliminationTraitsType::DefaultEliminate)
Periodically reorder and relinearize.
Definition NonlinearISAM.h:58
int reorderCounter() const
TODO: comment.
Definition NonlinearISAM.h:85
const NonlinearFactorGraph & getFactorsUnsafe() const
get underlying nonlinear graph
Definition NonlinearISAM.h:81
int reorderInterval_
The reordering interval and counter.
Definition NonlinearISAM.h:40
Values linPoint_
The current linearization point.
Definition NonlinearISAM.h:34
gtsam::GaussianISAM isam_
The internal iSAM object.
Definition NonlinearISAM.h:31
const Values & getLinearizationPoint() const
Return the current linearization point.
Definition NonlinearISAM.h:78
A non-templated config holding any types of Manifold-group elements.
Definition Values.h:65