43 lines
1.4 KiB
C++
43 lines
1.4 KiB
C++
|
/**
|
||
|
|
* @file GaussianISAM
|
||
|
|
* @brief Linear ISAM only
|
||
|
|
* @author Michael Kaess
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "GaussianISAM.h"
|
||
|
|
|
||
|
|
using namespace std;
|
||
|
|
using namespace gtsam;
|
||
|
|
|
||
|
|
// Explicitly instantiate so we don't have to include everywhere
|
||
|
|
#include "ISAM-inl.h"
|
||
|
|
template class ISAM<GaussianConditional>;
|
||
|
|
|
||
|
|
namespace gtsam {
|
||
|
|
|
||
|
|
/* ************************************************************************* */
|
||
|
|
void optimize(const GaussianISAM::sharedClique& clique, VectorConfig& result) {
|
||
|
|
// parents are assumed to already be solved and available in result
|
||
|
|
GaussianISAM::Clique::const_reverse_iterator it;
|
||
|
|
for (it = clique->rbegin(); it!=clique->rend(); it++) {
|
||
|
GaussianConditional::shared_ptr cg = *it;
|
||
|
|
Vector x = cg->solve(result); // Solve for that variable
|
||
|
|
result.insert(cg->key(), x); // store result in partial solution
|
||
|
|
}
|
||
|
|
BOOST_FOREACH(const GaussianISAM::sharedClique& child, clique->children_) {
|
||
|
|
// list<GaussianISAM::Clique::shared_ptr>::const_iterator child;
|
||
|
|
// for (child = clique->children_.begin(); child != clique->children_.end(); child++) {
|
||
|
|
optimize(child, result);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/* ************************************************************************* */
|
||
|
|
VectorConfig optimize(const GaussianISAM& bayesTree) {
|
||
|
|
VectorConfig result;
|
||
|
|
// starting from the root, call optimize on each conditional
|
||
|
|
optimize(bayesTree.root(), result);
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
} /// namespace gtsam
|