70 lines
2.3 KiB
C++
70 lines
2.3 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file ISAM-inl.h
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* @brief Incremental update functionality (iSAM) for BayesTree.
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* @author Michael Kaess
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*/
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#pragma once
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#include <gtsam/inference/ISAM.h>
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#include <gtsam/inference/VariableIndex.h>
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namespace gtsam {
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/* ************************************************************************* */
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template<class BAYESTREE>
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void ISAM<BAYESTREE>::update_internal(const FactorGraphType& newFactors,
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Cliques& orphans, const Eliminate& function) {
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// Remove the contaminated part of the Bayes tree
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BayesNetType bn;
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const KeySet newFactorKeys = newFactors.keys();
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if (!this->empty()) {
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std::vector<Key> keyVector(newFactorKeys.begin(), newFactorKeys.end());
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this->removeTop(keyVector, bn, orphans);
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}
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// Add the removed top and the new factors
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FactorGraphType factors;
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factors += bn;
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factors += newFactors;
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// Add the orphaned subtrees
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for (const sharedClique& orphan : orphans)
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factors += boost::make_shared<BayesTreeOrphanWrapper<Clique> >(orphan);
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// Get an ordering where the new keys are eliminated last
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const VariableIndex index(factors);
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const Ordering ordering = Ordering::ColamdConstrainedLast(index,
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std::vector<Key>(newFactorKeys.begin(), newFactorKeys.end()));
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// eliminate all factors (top, added, orphans) into a new Bayes tree
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auto bayesTree = factors.eliminateMultifrontal(ordering, function, index);
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// Re-add into Bayes tree data structures
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this->roots_.insert(this->roots_.end(), bayesTree->roots().begin(),
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bayesTree->roots().end());
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this->nodes_.insert(bayesTree->nodes().begin(), bayesTree->nodes().end());
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}
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/* ************************************************************************* */
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template<class BAYESTREE>
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void ISAM<BAYESTREE>::update(const FactorGraphType& newFactors,
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const Eliminate& function) {
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Cliques orphans;
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this->update_internal(newFactors, orphans, function);
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}
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}
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/// namespace gtsam
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