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release/4.3a0
Varun Agrawal 2022-03-11 08:41:24 -05:00
parent a0d64a9448
commit 8496565d9d
4 changed files with 14 additions and 3 deletions
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2
gtsam/discrete/DiscreteLookupDAG.h
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@ -46,7 +46,7 @@ class GTSAM_EXPORT DiscreteLookupTable : public DiscreteConditional {
* @brief Construct a new Discrete Lookup Table object * @brief Construct a new Discrete Lookup Table object
* *
* @param nFrontals number of frontal variables * @param nFrontals number of frontal variables
* @param keys a orted list of gtsam::Keys * @param keys a sorted list of gtsam::Keys
* @param potentials the algebraic decision tree with lookup values * @param potentials the algebraic decision tree with lookup values
*/ */
DiscreteLookupTable(size_t nFrontals, const DiscreteKeys& keys, DiscreteLookupTable(size_t nFrontals, const DiscreteKeys& keys,

2
gtsam/geometry/Pose3.cpp
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@ -59,7 +59,7 @@ Matrix6 Pose3::AdjointMap() const {
const Matrix3 R = R_.matrix(); const Matrix3 R = R_.matrix();
Matrix3 A = skewSymmetric(t_.x(), t_.y(), t_.z()) * R; Matrix3 A = skewSymmetric(t_.x(), t_.y(), t_.z()) * R;
Matrix6 adj; Matrix6 adj;
adj << R, Z_3x3, A, R; adj << R, Z_3x3, A, R; // Gives [R 0; A R]
return adj; return adj;
} }

2
gtsam/inference/BayesTree.h
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@ -139,7 +139,7 @@ namespace gtsam {
return nodes_.empty(); return nodes_.empty();
} }
/** return nodes */ /** Return nodes. Each node is a clique of variables obtained after elimination. */
const Nodes& nodes() const { return nodes_; } const Nodes& nodes() const { return nodes_; }
/** Access node by variable */ /** Access node by variable */

11
gtsam/nonlinear/ISAM2.h
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@ -295,6 +295,17 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
const ISAM2UpdateParams& updateParams, const FastList<Key>& affectedKeys, const ISAM2UpdateParams& updateParams, const FastList<Key>& affectedKeys,
const KeySet& relinKeys); const KeySet& relinKeys);
/**
* @brief Perform an incremental update of the factor graph to return a new
* Bayes Tree with affected keys.
*
* @param updateParams Parameters for the ISAM2 update.
* @param relinKeys Keys of variables to relinearize.
* @param affectedKeys The set of keys which are affected in the update.
* @param affectedKeysSet [output] Affected and contaminated keys.
* @param orphans [output] List of orphanes cliques after elimination.
* @param result [output] The result of the incremental update step.
*/
void recalculateIncremental(const ISAM2UpdateParams& updateParams, void recalculateIncremental(const ISAM2UpdateParams& updateParams,
const KeySet& relinKeys, const KeySet& relinKeys,
const FastList<Key>& affectedKeys, const FastList<Key>& affectedKeys,