79 lines
1.9 KiB
C++
79 lines
1.9 KiB
C++
/**
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* @file ISAM2.h
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* @brief Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.
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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 <map>
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#include <list>
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#include <vector>
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#include <boost/serialization/map.hpp>
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#include <boost/serialization/list.hpp>
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#include <stdexcept>
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#include "Testable.h"
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#include "FactorGraph.h"
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#include "NonlinearFactorGraph.h"
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#include "BayesNet.h"
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#include "BayesTree.h"
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#include "Key.h"
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namespace gtsam {
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typedef std::map<Symbol, GaussianFactor::shared_ptr> CachedFactors;
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template<class Conditional, class Config>
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class ISAM2: public BayesTree<Conditional> {
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protected:
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// current linearization point
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Config linPoint_;
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// most recent solution
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VectorConfig delta_;
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// for keeping all original nonlinear factors
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NonlinearFactorGraph<Config> nonlinearFactors_;
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// cached intermediate results for restarting computation in the middle
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CachedFactors cached_;
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public:
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/** Create an empty Bayes Tree */
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ISAM2();
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/** Create a Bayes Tree from a Bayes Net */
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ISAM2(const NonlinearFactorGraph<Config>& fg, const Ordering& ordering, const Config& config);
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/** Destructor */
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virtual ~ISAM2() {
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}
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typedef typename BayesTree<Conditional>::sharedClique sharedClique;
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typedef typename BayesTree<Conditional>::Cliques Cliques;
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/**
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* ISAM2. (update_internal provides access to list of orphans for drawing purposes)
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*/
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void update_internal(const NonlinearFactorGraph<Config>& newFactors, const Config& config, Cliques& orphans);
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void update(const NonlinearFactorGraph<Config>& newFactors, const Config& config);
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const Config estimate() const {return expmap(linPoint_, delta_);}
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const Config linearizationPoint() const {return linPoint_;}
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private:
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FactorGraph<GaussianFactor> relinearizeAffectedFactors(const std::list<Symbol>& affectedKeys);
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FactorGraph<GaussianFactor> getCachedBoundaryFactors(Cliques& orphans);
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}; // ISAM2
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} /// namespace gtsam
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