Init uncomment of fixed lag smoother
Jeremy
parent
c84496632f
commit
dbc0799765
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@ -505,132 +505,132 @@ virtual class DiscreteEulerPoincareHelicopter : gtsam::NoiseModelFactor {
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//*************************************************************************
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// nonlinear
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//*************************************************************************
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// #include <gtsam_unstable/nonlinear/sequentialSummarization.h>
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// gtsam::GaussianFactorGraph* summarizeGraphSequential(
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// const gtsam::GaussianFactorGraph& full_graph, const gtsam::KeyVector& indices);
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// gtsam::GaussianFactorGraph* summarizeGraphSequential(
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// const gtsam::GaussianFactorGraph& full_graph, const gtsam::Ordering& ordering, const gtsam::KeySet& saved_keys);
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#include <gtsam_unstable/nonlinear/sequentialSummarization.h>
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gtsam::GaussianFactorGraph* summarizeGraphSequential(
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const gtsam::GaussianFactorGraph& full_graph, const gtsam::KeyVector& indices);
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gtsam::GaussianFactorGraph* summarizeGraphSequential(
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const gtsam::GaussianFactorGraph& full_graph, const gtsam::Ordering& ordering, const gtsam::KeySet& saved_keys);
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// #include <gtsam_unstable/nonlinear/FixedLagSmoother.h>
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// class FixedLagSmootherKeyTimestampMapValue {
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// FixedLagSmootherKeyTimestampMapValue(const gtsam::Key& key, double timestamp);
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// FixedLagSmootherKeyTimestampMapValue(const gtsam::FixedLagSmootherKeyTimestampMapValue& other);
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// };
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//
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// class FixedLagSmootherKeyTimestampMap {
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// FixedLagSmootherKeyTimestampMap();
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// FixedLagSmootherKeyTimestampMap(const gtsam::FixedLagSmootherKeyTimestampMap& other);
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//
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// // Note: no print function
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//
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// // common STL methods
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// size_t size() const;
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// bool empty() const;
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// void clear();
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//
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// double at(const gtsam::Key& key) const;
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// void insert(const gtsam::FixedLagSmootherKeyTimestampMapValue& value);
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// };
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//
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// class FixedLagSmootherResult {
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// size_t getIterations() const;
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// size_t getNonlinearVariables() const;
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// size_t getLinearVariables() const;
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// double getError() const;
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// };
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//
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// #include <gtsam_unstable/nonlinear/FixedLagSmoother.h>
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// virtual class FixedLagSmoother {
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// void print(string s) const;
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// bool equals(const gtsam::FixedLagSmoother& rhs, double tol) const;
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//
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// gtsam::FixedLagSmootherKeyTimestampMap timestamps() const;
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// double smootherLag() const;
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//
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// gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FixedLagSmootherKeyTimestampMap& timestamps);
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// gtsam::Values calculateEstimate() const;
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// };
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//
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// #include <gtsam_unstable/nonlinear/BatchFixedLagSmoother.h>
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// virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
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// BatchFixedLagSmoother();
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// BatchFixedLagSmoother(double smootherLag);
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// BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& params);
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//
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// gtsam::LevenbergMarquardtParams params() const;
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// };
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//
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// #include <gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h>
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// virtual class IncrementalFixedLagSmoother : gtsam::FixedLagSmoother {
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// IncrementalFixedLagSmoother();
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// IncrementalFixedLagSmoother(double smootherLag);
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// IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& params);
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//
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// gtsam::ISAM2Params params() const;
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// };
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//
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// #include <gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h>
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// virtual class ConcurrentFilter {
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// void print(string s) const;
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// bool equals(const gtsam::ConcurrentFilter& rhs, double tol) const;
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// };
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//
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// virtual class ConcurrentSmoother {
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// void print(string s) const;
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// bool equals(const gtsam::ConcurrentSmoother& rhs, double tol) const;
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// };
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//
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// // Synchronize function
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// void synchronize(gtsam::ConcurrentFilter& filter, gtsam::ConcurrentSmoother& smoother);
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//
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// #include <gtsam_unstable/nonlinear/ConcurrentBatchFilter.h>
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// class ConcurrentBatchFilterResult {
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// size_t getIterations() const;
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// size_t getLambdas() const;
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// size_t getNonlinearVariables() const;
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// size_t getLinearVariables() const;
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// double getError() const;
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// };
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//
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// virtual class ConcurrentBatchFilter : gtsam::ConcurrentFilter {
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// ConcurrentBatchFilter();
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// ConcurrentBatchFilter(const gtsam::LevenbergMarquardtParams& parameters);
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//
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// gtsam::NonlinearFactorGraph getFactors() const;
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// gtsam::Values getLinearizationPoint() const;
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// gtsam::Ordering getOrdering() const;
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// gtsam::VectorValues getDelta() const;
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//
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// gtsam::ConcurrentBatchFilterResult update();
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// gtsam::ConcurrentBatchFilterResult update(const gtsam::NonlinearFactorGraph& newFactors);
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// gtsam::ConcurrentBatchFilterResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta);
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// gtsam::ConcurrentBatchFilterResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyList& keysToMove);
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// gtsam::Values calculateEstimate() const;
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// };
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//
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// #include <gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h>
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// class ConcurrentBatchSmootherResult {
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// size_t getIterations() const;
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// size_t getLambdas() const;
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// size_t getNonlinearVariables() const;
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// size_t getLinearVariables() const;
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// double getError() const;
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// };
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//
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// virtual class ConcurrentBatchSmoother : gtsam::ConcurrentSmoother {
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// ConcurrentBatchSmoother();
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// ConcurrentBatchSmoother(const gtsam::LevenbergMarquardtParams& parameters);
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//
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// gtsam::NonlinearFactorGraph getFactors() const;
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// gtsam::Values getLinearizationPoint() const;
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// gtsam::Ordering getOrdering() const;
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// gtsam::VectorValues getDelta() const;
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//
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// gtsam::ConcurrentBatchSmootherResult update();
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// gtsam::ConcurrentBatchSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors);
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// gtsam::ConcurrentBatchSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta);
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// gtsam::Values calculateEstimate() const;
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// };
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#include <gtsam_unstable/nonlinear/FixedLagSmoother.h>
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class FixedLagSmootherKeyTimestampMapValue {
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FixedLagSmootherKeyTimestampMapValue(const gtsam::Key& key, double timestamp);
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FixedLagSmootherKeyTimestampMapValue(const gtsam::FixedLagSmootherKeyTimestampMapValue& other);
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};
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class FixedLagSmootherKeyTimestampMap {
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FixedLagSmootherKeyTimestampMap();
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FixedLagSmootherKeyTimestampMap(const gtsam::FixedLagSmootherKeyTimestampMap& other);
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// Note: no print function
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// common STL methods
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size_t size() const;
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bool empty() const;
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void clear();
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double at(const gtsam::Key& key) const;
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void insert(const gtsam::FixedLagSmootherKeyTimestampMapValue& value);
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};
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class FixedLagSmootherResult {
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size_t getIterations() const;
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size_t getNonlinearVariables() const;
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size_t getLinearVariables() const;
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double getError() const;
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};
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#include <gtsam_unstable/nonlinear/FixedLagSmoother.h>
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virtual class FixedLagSmoother {
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void print(string s) const;
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bool equals(const gtsam::FixedLagSmoother& rhs, double tol) const;
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gtsam::FixedLagSmootherKeyTimestampMap timestamps() const;
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double smootherLag() const;
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gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FixedLagSmootherKeyTimestampMap& timestamps);
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gtsam::Values calculateEstimate() const;
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};
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#include <gtsam_unstable/nonlinear/BatchFixedLagSmoother.h>
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virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
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BatchFixedLagSmoother();
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BatchFixedLagSmoother(double smootherLag);
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BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& params);
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gtsam::LevenbergMarquardtParams params() const;
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};
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#include <gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h>
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virtual class IncrementalFixedLagSmoother : gtsam::FixedLagSmoother {
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IncrementalFixedLagSmoother();
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IncrementalFixedLagSmoother(double smootherLag);
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IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& params);
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gtsam::ISAM2Params params() const;
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};
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#include <gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h>
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virtual class ConcurrentFilter {
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void print(string s) const;
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bool equals(const gtsam::ConcurrentFilter& rhs, double tol) const;
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};
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virtual class ConcurrentSmoother {
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void print(string s) const;
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bool equals(const gtsam::ConcurrentSmoother& rhs, double tol) const;
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};
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// Synchronize function
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void synchronize(gtsam::ConcurrentFilter& filter, gtsam::ConcurrentSmoother& smoother);
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#include <gtsam_unstable/nonlinear/ConcurrentBatchFilter.h>
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class ConcurrentBatchFilterResult {
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size_t getIterations() const;
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size_t getLambdas() const;
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size_t getNonlinearVariables() const;
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size_t getLinearVariables() const;
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double getError() const;
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};
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virtual class ConcurrentBatchFilter : gtsam::ConcurrentFilter {
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ConcurrentBatchFilter();
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ConcurrentBatchFilter(const gtsam::LevenbergMarquardtParams& parameters);
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gtsam::NonlinearFactorGraph getFactors() const;
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gtsam::Values getLinearizationPoint() const;
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gtsam::Ordering getOrdering() const;
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gtsam::VectorValues getDelta() const;
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gtsam::ConcurrentBatchFilterResult update();
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gtsam::ConcurrentBatchFilterResult update(const gtsam::NonlinearFactorGraph& newFactors);
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gtsam::ConcurrentBatchFilterResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta);
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gtsam::ConcurrentBatchFilterResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyList& keysToMove);
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gtsam::Values calculateEstimate() const;
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};
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#include <gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h>
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class ConcurrentBatchSmootherResult {
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size_t getIterations() const;
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size_t getLambdas() const;
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size_t getNonlinearVariables() const;
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size_t getLinearVariables() const;
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double getError() const;
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};
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virtual class ConcurrentBatchSmoother : gtsam::ConcurrentSmoother {
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ConcurrentBatchSmoother();
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ConcurrentBatchSmoother(const gtsam::LevenbergMarquardtParams& parameters);
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gtsam::NonlinearFactorGraph getFactors() const;
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gtsam::Values getLinearizationPoint() const;
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gtsam::Ordering getOrdering() const;
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gtsam::VectorValues getDelta() const;
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gtsam::ConcurrentBatchSmootherResult update();
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gtsam::ConcurrentBatchSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors);
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gtsam::ConcurrentBatchSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta);
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gtsam::Values calculateEstimate() const;
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};
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//*************************************************************************
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// slam
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