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new iSAM2 alg, still failing...

release/4.3a0
Michael Kaess 2010-07-16 09:26:38 +00:00
parent 5a2e620520
commit 5ab154e654
1 changed files with 1 additions and 0 deletions
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inference/ISAM2.h
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@ -69,6 +69,7 @@ namespace gtsam {
* ISAM2. (update_internal provides access to list of orphans for drawing purposes) * ISAM2. (update_internal provides access to list of orphans for drawing purposes)
*/ */
void linear_update(const FactorGraph<GaussianFactor>& newFactors); void linear_update(const FactorGraph<GaussianFactor>& newFactors);
void find_all(sharedClique clique, std::list<Symbol>& keys, const std::list<Symbol>& marked); // helper function
void fluid_relinearization(double relinearize_threshold); void fluid_relinearization(double relinearize_threshold);
void update_internal(const NonlinearFactorGraph<Config>& newFactors, void update_internal(const NonlinearFactorGraph<Config>& newFactors,
const Config& newTheta, Cliques& orphans, const Config& newTheta, Cliques& orphans,