2009-12-28 07:15:36 +08:00
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/**
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* @file GaussianISAM
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2009-12-29 13:57:05 +08:00
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* @brief Linear ISAM only
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2009-12-28 07:15:36 +08:00
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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 "ISAM.h"
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#include "GaussianConditional.h"
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namespace gtsam {
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typedef ISAM<GaussianConditional> GaussianISAM;
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// recursively optimize this conditional and all subtrees
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void optimize(const GaussianISAM::sharedClique& clique, VectorConfig& result);
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// optimize the BayesTree, starting from the root
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VectorConfig optimize(const GaussianISAM& bayesTree);
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}/// namespace gtsam
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