26 lines
561 B
C++
26 lines
561 B
C++
/**
|
|
* @file GaussianISAM
|
|
* @brief Full non-linear ISAM.
|
|
* @author Michael Kaess
|
|
*/
|
|
|
|
// \callgraph
|
|
|
|
#pragma once
|
|
|
|
#include "ISAM2.h"
|
|
#include "GaussianConditional.h"
|
|
#include "GaussianFactor.h"
|
|
|
|
namespace gtsam {
|
|
|
|
typedef ISAM2<GaussianConditional, VectorConfig> GaussianISAM2;
|
|
|
|
// recursively optimize this conditional and all subtrees
|
|
void optimize2(const GaussianISAM2::sharedClique& clique, VectorConfig& result);
|
|
|
|
// optimize the BayesTree, starting from the root
|
|
VectorConfig optimize2(const GaussianISAM2& bayesTree);
|
|
|
|
}/// namespace gtsam
|