39 lines
1.1 KiB
C++
39 lines
1.1 KiB
C++
/**
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* @file GaussianISAM
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* @brief Full non-linear ISAM.
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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/ISAM2.h>
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#include <gtsam/linear/GaussianConditional.h>
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#include <gtsam/linear/GaussianFactor.h>
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#include <gtsam/slam/simulated2D.h>
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#include <gtsam/slam/planarSLAM.h>
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namespace gtsam {
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typedef ISAM2<GaussianConditional, simulated2D::Config> GaussianISAM2;
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// recursively optimize this conditional and all subtrees
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void optimize2(const GaussianISAM2::sharedClique& clique, double threshold, VectorConfig& result);
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// optimize the BayesTree, starting from the root
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VectorConfig optimize2(const GaussianISAM2& bayesTree, double threshold = 0.);
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// todo: copy'n'paste to avoid template hell
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typedef ISAM2<GaussianConditional, planarSLAM::Config> GaussianISAM2_P;
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// recursively optimize this conditional and all subtrees
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// void optimize2(const GaussianISAM2_P::sharedClique& clique, VectorConfig& result);
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// optimize the BayesTree, starting from the root
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VectorConfig optimize2(const GaussianISAM2_P& bayesTree, double threshold = 0.);
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}/// namespace gtsam
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