59 lines
2.2 KiB
C++
59 lines
2.2 KiB
C++
/**
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* @file summarization.h
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*
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* @brief Types and utility functions for summarization
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*
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* @date Jun 22, 2012
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* @author Alex Cunningham
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*/
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#pragma once
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#include <gtsam_unstable/base/dllexport.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
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#include <gtsam/nonlinear/Ordering.h>
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namespace gtsam {
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// Flag to control how summarization should be performed
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typedef enum {
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PARTIAL_QR = 0, /// Uses QR solver to eliminate, does not require fully constrained system
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PARTIAL_CHOLESKY = 1, /// Uses Cholesky solver, does not require fully constrained system
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SEQUENTIAL_QR = 2, /// Uses QR to compute full joint graph (needs fully constrained system)
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SEQUENTIAL_CHOLESKY = 3 /// Uses Cholesky to compute full joint graph (needs fully constrained system)
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} SummarizationMode;
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/**
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* Summarization function to remove a subset of variables from a system with the
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* sequential solver. This does not require that the system be fully constrained.
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*
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* @param graph A full nonlinear graph
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* @param values The chosen linearization point
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* @param saved_keys is the set of keys for variables that should remain
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* @param mode controls what elimination technique and requirements to use
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* @return a pair of the remaining graph and the ordering used for linearization
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*/
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std::pair<GaussianFactorGraph,Ordering> GTSAM_EXPORT
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summarize(const NonlinearFactorGraph& graph, const Values& values,
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const KeySet& saved_keys, SummarizationMode mode = PARTIAL_QR);
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/**
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* Performs the same summarization technique used in summarize(), but returns the
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* result as a NonlinearFactorGraph comprised of LinearContainerFactors.
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*
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* @param graph A full nonlinear graph
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* @param values The chosen linearization point
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* @param saved_keys is the set of keys for variables that should remain
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* @param useQR uses QR as the elimination algorithm if true, Cholesky otherwise
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* @return a NonlinearFactorGraph with linear factors
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*/
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NonlinearFactorGraph GTSAM_EXPORT summarizeAsNonlinearContainer(
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const NonlinearFactorGraph& graph, const Values& values,
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const KeySet& saved_keys, SummarizationMode mode = PARTIAL_QR);
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} // \namespace gtsam
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