43 lines
1.4 KiB
C++
43 lines
1.4 KiB
C++
/**
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* @file GaussianISAM
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* @brief Linear ISAM only
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* @author Michael Kaess
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*/
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#include <gtsam/linear/GaussianISAM.h>
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using namespace std;
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using namespace gtsam;
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// Explicitly instantiate so we don't have to include everywhere
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#include <gtsam/inference/ISAM-inl.h>
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template class ISAM<GaussianConditional>;
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namespace gtsam {
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/* ************************************************************************* */
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void optimize(const GaussianISAM::sharedClique& clique, VectorValues& result) {
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// parents are assumed to already be solved and available in result
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GaussianISAM::Clique::const_reverse_iterator it;
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for (it = clique->rbegin(); it!=clique->rend(); it++) {
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GaussianConditional::shared_ptr cg = *it;
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Vector x = cg->solve(result); // Solve for that variable
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result[cg->key()] = x; // store result in partial solution
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}
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BOOST_FOREACH(const GaussianISAM::sharedClique& child, clique->children_) {
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// list<GaussianISAM::Clique::shared_ptr>::const_iterator child;
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// for (child = clique->children_.begin(); child != clique->children_.end(); child++) {
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optimize(child, result);
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}
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}
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/* ************************************************************************* */
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VectorValues optimize(const GaussianISAM& bayesTree) {
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VectorValues result(bayesTree.dims_);
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// starting from the root, call optimize on each conditional
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optimize(bayesTree.root(), result);
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return result;
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}
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} /// namespace gtsam
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