12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
inference/ISAM2.h
View File

@ -69,6 +69,7 @@ namespace gtsam {
* ISAM2. (update_internal provides access to list of orphans for drawing purposes)
*/
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 update_internal(const NonlinearFactorGraph<Config>& newFactors,
const Config& newTheta, Cliques& orphans,