57 lines
1.8 KiB
C++
57 lines
1.8 KiB
C++
/**
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* @file GaussianISAM2
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* @brief Full non-linear ISAM
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* @author Michael Kaess
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*/
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#include "GaussianISAM2.h"
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using namespace std;
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using namespace gtsam;
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// Explicitly instantiate so we don't have to include everywhere
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#include "ISAM2-inl.h"
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//template class ISAM2<GaussianConditional, VectorConfig>;
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//template class ISAM2<GaussianConditional, planarSLAM::Config>;
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namespace gtsam {
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/* ************************************************************************* */
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void optimize2(const GaussianISAM2::sharedClique& clique, double threshold, VectorConfig& result) {
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bool process_children = false;
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// parents are assumed to already be solved and available in result
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GaussianISAM2::Clique::const_reverse_iterator it;
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for (it = clique->rbegin(); it!=clique->rend(); it++) {
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GaussianConditional::shared_ptr cg = *it;
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Vector x = cg->solve(result); // Solve for that variable
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if (max(abs(x)) >= threshold) {
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process_children = true;
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}
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result.insert(cg->key(), x); // store result in partial solution
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}
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if (process_children) {
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BOOST_FOREACH(const GaussianISAM2::sharedClique& child, clique->children_) {
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optimize2(child, threshold, result);
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}
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}
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}
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/* ************************************************************************* */
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VectorConfig optimize2(const GaussianISAM2& bayesTree, double threshold) {
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VectorConfig result;
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// starting from the root, call optimize on each conditional
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optimize2(bayesTree.root(), threshold, result);
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return result;
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}
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/* ************************************************************************* */
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VectorConfig optimize2(const GaussianISAM2_P& bayesTree, double threshold) {
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VectorConfig result;
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// starting from the root, call optimize on each conditional
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optimize2(bayesTree.root(), threshold, result);
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return result;
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}
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} /// namespace gtsam
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