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

Documentation

release/4.3a0
Frank Dellaert 2011-09-04 03:10:39 +00:00
parent a02eae679f
commit 9cab332190
1 changed files with 25 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

37
gtsam/inference/ISAM.h
View File

@ -16,16 +16,21 @@
*/ */
// \callgraph // \callgraph
#pragma once #pragma once
#include <gtsam/inference/BayesTree.h> #include <gtsam/inference/BayesTree.h>
namespace gtsam { namespace gtsam {
/**
* A Bayes tree with an update methods that implements the iSAM algorithm.
* Given a set of new factors, it re-eliminates the invalidated part of the tree.
*/
template<class CONDITIONAL> template<class CONDITIONAL>
class ISAM: public BayesTree<CONDITIONAL> { class ISAM: public BayesTree<CONDITIONAL> {
private: private:
typedef BayesTree<CONDITIONAL> Base; typedef BayesTree<CONDITIONAL> Base;
public: public:
@ -36,23 +41,29 @@ namespace gtsam {
/** Create a Bayes Tree from a Bayes Net */ /** Create a Bayes Tree from a Bayes Net */
ISAM(const BayesNet<CONDITIONAL>& bayesNet); ISAM(const BayesNet<CONDITIONAL>& bayesNet);
/** Create a Bayes Tree from a Bayes Tree */ /** Copy constructor */
ISAM(const Base& bayesTree) : Base(bayesTree) {} ISAM(const Base& bayesTree) :
Base(bayesTree) {
typedef typename BayesTree<CONDITIONAL>::sharedClique sharedClique; }
typedef typename BayesTree<CONDITIONAL>::Cliques Cliques;
/** /**
* iSAM. (update_internal provides access to list of orphans for drawing purposes) * update the Bayes tree with a set of new factors, typically derived from measurements
* @param newFactors is a factor graph that contains the new factors
* @param function an elimination routine
*/ */
template<class FG> template<class FG>
void update(const FG& newFactors, typename FG::Eliminate function);
/** advanced interface */
typedef typename BayesTree<CONDITIONAL>::sharedClique sharedClique;
typedef typename BayesTree<CONDITIONAL>::Cliques Cliques;
/** update_internal provides access to list of orphans for drawing purposes */
template<class FG>
void update_internal(const FG& newFactors, Cliques& orphans, void update_internal(const FG& newFactors, Cliques& orphans,
typename FG::Eliminate function); typename FG::Eliminate function);
template<class FG> };
void update(const FG& newFactors, typename FG::Eliminate function);
}; // ISAM }/// namespace gtsam
} /// namespace gtsam