Wrapper class to manage ISAM in a nonlinear context.
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| HybridNonlinearISAM (int reorderInterval=1, const HybridGaussianFactorGraph::Eliminate &eliminationFunction=HybridGaussianFactorGraph::EliminationTraitsType::DefaultEliminate) |
| Periodically reorder and relinearize. More...
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Values | estimate () |
| Return the current solution estimate.
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const HybridGaussianISAM & | bayesTree () const |
| access the underlying bayes tree
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void | prune (const size_t maxNumberLeaves) |
| Prune the underlying Bayes tree. More...
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const Values & | getLinearizationPoint () const |
| Return the current linearization point.
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const DiscreteValues & | assignment () const |
| Return the current discrete assignment.
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const HybridNonlinearFactorGraph & | getFactorsUnsafe () const |
| get underlying nonlinear graph
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int | reorderInterval () const |
| get counters More...
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int | reorderCounter () const |
| TODO: comment.
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void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| prints out all contents of the system
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void | printStats () const |
| prints out clique statistics
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void | saveGraph (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| saves the Tree to a text file in GraphViz format
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void | update (const HybridNonlinearFactorGraph &newFactors, const Values &initialValues, const boost::optional< size_t > &maxNrLeaves=boost::none, const boost::optional< Ordering > &ordering=boost::none) |
| Add new factors along with their initial linearization points.
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void | reorder_relinearize () |
| Relinearization and reordering of variables.
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