ISAM2-inl.h File Reference

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

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Namespaces
	gtsam
	Global functions in a separate testing namespace.

Functions
template<class CLIQUE >
void	gtsam::internal::optimizeWildfire (const boost::shared_ptr< CLIQUE > &clique, double threshold, KeySet &changed, const KeySet &replaced, VectorValues &delta, size_t &count)
template<class CLIQUE >
bool	gtsam::internal::optimizeWildfireNode (const boost::shared_ptr< CLIQUE > &clique, double threshold, KeySet &changed, const KeySet &replaced, VectorValues &delta, size_t &count)
template<class CLIQUE >
size_t	gtsam::optimizeWildfire (const boost::shared_ptr< CLIQUE > &root, double threshold, const KeySet &replaced, VectorValues &delta)
	Optimize the BayesTree, starting from the root. More...
template<class CLIQUE >
size_t	gtsam::optimizeWildfireNonRecursive (const boost::shared_ptr< CLIQUE > &root, double threshold, const KeySet &keys, VectorValues &delta)
template<class CLIQUE >
void	gtsam::nnz_internal (const boost::shared_ptr< CLIQUE > &clique, int &result)
template<class CLIQUE >
int	gtsam::calculate_nnz (const boost::shared_ptr< CLIQUE > &clique)
	calculate the number of non-zero entries for the tree starting at clique (use root for complete matrix)

Detailed Description

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

Author

Richard Roberts

Date

Mar 16, 2012

Author

Michael Kaess, Richard Roberts