Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization. More...

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Functions
void	gtsam::CheckRelinearizationRecursiveDouble (KeySet &relinKeys, double threshold, const VectorValues &delta, const ISAM2Clique::shared_ptr &clique)

void	gtsam::CheckRelinearizationRecursiveMap (KeySet &relinKeys, const FastMap< char, Vector > &thresholds, const VectorValues &delta, const ISAM2Clique::shared_ptr &clique)

void	gtsam::internal::updateRgProd (const boost::shared_ptr< ISAM2Clique > &clique, const KeySet &replacedKeys, const VectorValues &grad, VectorValues &RgProd, size_t &varsUpdated)

Detailed Description

Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.

Namespaces