gtsam 4.2.0
gtsam
HybridGaussianISAM.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
5 * All Rights Reserved
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
8 * See LICENSE for the license information
9
10 * -------------------------------------------------------------------------- */
11
20#pragma once
21
22#include <gtsam/base/Testable.h>
26
27namespace gtsam {
28
34class GTSAM_EXPORT HybridGaussianISAM : public ISAM<HybridBayesTree> {
35 public:
38 typedef boost::shared_ptr<This> shared_ptr;
39
42
45
47 HybridGaussianISAM(const HybridBayesTree& bayesTree);
48
50
51 private:
53 void updateInternal(
54 const HybridGaussianFactorGraph& newFactors,
56 const boost::optional<size_t>& maxNrLeaves = boost::none,
57 const boost::optional<Ordering>& ordering = boost::none,
58 const HybridBayesTree::Eliminate& function =
59 HybridBayesTree::EliminationTraitsType::DefaultEliminate);
60
61 public:
70 void update(const HybridGaussianFactorGraph& newFactors,
71 const boost::optional<size_t>& maxNrLeaves = boost::none,
72 const boost::optional<Ordering>& ordering = boost::none,
73 const HybridBayesTree::Eliminate& function =
74 HybridBayesTree::EliminationTraitsType::DefaultEliminate);
75
84 static Ordering GetOrdering(HybridGaussianFactorGraph& factors,
85 const HybridGaussianFactorGraph& newFactors);
86};
87
89template <>
90struct traits<HybridGaussianISAM> : public Testable<HybridGaussianISAM> {};
91
92} // namespace gtsam
Concept check for values that can be used in unit tests.
Linearized Hybrid factor graph that uses type erasure.
Hybrid Bayes Tree, the result of eliminating a HybridJunctionTree.
Incremental update functionality (iSAM) for BayesTree.
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition: concepts.h:30
A helper that implements the traits interface for GTSAM types.
Definition: Testable.h:151
A Bayes tree representing a Hybrid density.
Definition: HybridBayesTree.h:64
Definition: HybridGaussianFactorGraph.h:102
Definition: HybridGaussianISAM.h:34
FastList< sharedClique > Cliques
A convenience class for a list of shared cliques.
Definition: BayesTree.h:89
A Bayes tree with an update methods that implements the iSAM algorithm.
Definition: ISAM.h:31
Definition: Ordering.h:34