26 lines
561 B
C
26 lines
561 B
C
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/**
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* @file GaussianISAM
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* @brief Full non-linear ISAM.
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* @author Michael Kaess
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*/
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// \callgraph
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#pragma once
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#include "ISAM2.h"
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#include "GaussianConditional.h"
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#include "GaussianFactor.h"
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namespace gtsam {
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typedef ISAM2<GaussianConditional, VectorConfig> GaussianISAM2;
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// recursively optimize this conditional and all subtrees
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void optimize2(const GaussianISAM2::sharedClique& clique, VectorConfig& result);
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// optimize the BayesTree, starting from the root
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VectorConfig optimize2(const GaussianISAM2& bayesTree);
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}/// namespace gtsam
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