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