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

Classes
struct	gtsam::ISAM2GaussNewtonParams

struct	gtsam::ISAM2DoglegParams

struct	gtsam::ISAM2Params

struct	gtsam::ISAM2Result

struct	gtsam::ISAM2Result::DetailedResults
	A struct holding detailed results, which must be enabled with ISAM2Params::enableDetailedResults. More...

struct	gtsam::ISAM2Result::DetailedResults::VariableStatus
	The status of a single variable, this struct is stored in DetailedResults::variableStatus. More...

class	gtsam::ISAM2Clique
	Specialized Clique structure for ISAM2, incorporating caching and gradient contribution TODO: more documentation. More...

class	gtsam::ISAM2

struct	gtsam::traits< ISAM2 >
	traits More...

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Typedefs
typedef FastMap< char, Vector >	gtsam::ISAM2ThresholdMap

typedef ISAM2ThresholdMap::value_type	gtsam::ISAM2ThresholdMapValue

typedef FastVector< size_t >	gtsam::FactorIndices

Functions
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 >
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.

Classes