82 lines
2.2 KiB
C++
82 lines
2.2 KiB
C++
/**
|
|
* @file ISAM2.h
|
|
* @brief Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.
|
|
* @author Michael Kaess
|
|
*/
|
|
|
|
// \callgraph
|
|
|
|
#pragma once
|
|
|
|
#include <map>
|
|
#include <list>
|
|
#include <vector>
|
|
#include <boost/serialization/map.hpp>
|
|
#include <boost/serialization/list.hpp>
|
|
#include <stdexcept>
|
|
|
|
#include "Testable.h"
|
|
#include "FactorGraph.h"
|
|
#include "NonlinearFactorGraph.h"
|
|
#include "BayesNet.h"
|
|
#include "BayesTree.h"
|
|
#include "Key.h"
|
|
|
|
namespace gtsam {
|
|
|
|
typedef std::map<Symbol, GaussianFactor::shared_ptr> CachedFactors;
|
|
|
|
template<class Conditional, class Config>
|
|
class ISAM2: public BayesTree<Conditional> {
|
|
|
|
protected:
|
|
|
|
// current linearization point
|
|
Config theta_;
|
|
|
|
// for keeping all original nonlinear factors
|
|
NonlinearFactorGraph<Config> nonlinearFactors_;
|
|
|
|
// cached intermediate results for restarting computation in the middle
|
|
CachedFactors cached_;
|
|
|
|
// variables that have been updated, requiring the corresponding factors to be relinearized
|
|
std::list<Symbol> marked_;
|
|
|
|
public:
|
|
|
|
/** Create an empty Bayes Tree */
|
|
ISAM2();
|
|
|
|
/** Create a Bayes Tree from a Bayes Net */
|
|
ISAM2(const NonlinearFactorGraph<Config>& fg, const Ordering& ordering, const Config& config);
|
|
|
|
/** Destructor */
|
|
virtual ~ISAM2() {
|
|
}
|
|
|
|
typedef typename BayesTree<Conditional>::sharedClique sharedClique;
|
|
|
|
typedef typename BayesTree<Conditional>::Cliques Cliques;
|
|
|
|
/**
|
|
* ISAM2. (update_internal provides access to list of orphans for drawing purposes)
|
|
*/
|
|
void update_internal(const NonlinearFactorGraph<Config>& newFactors,
|
|
const Config& config, Cliques& orphans,
|
|
double wildfire_threshold, double relinearize_threshold);
|
|
void update(const NonlinearFactorGraph<Config>& newFactors, const Config& config,
|
|
double wildfire_threshold = 0., double relinearize_threshold = 0.);
|
|
|
|
const Config estimate() const {return theta_;}
|
|
|
|
private:
|
|
|
|
boost::shared_ptr<FactorGraph<NonlinearFactor<Config> > > getAffectedFactors(const std::list<Symbol>& keys) const;
|
|
FactorGraph<GaussianFactor> relinearizeAffectedFactors(const std::list<Symbol>& affectedKeys) const;
|
|
FactorGraph<GaussianFactor> getCachedBoundaryFactors(Cliques& orphans);
|
|
|
|
}; // ISAM2
|
|
|
|
} /// namespace gtsam
|