53 lines
1.2 KiB
C++
53 lines
1.2 KiB
C++
/**
|
|
* @file ISAM.h
|
|
* @brief Incremental update functionality (iSAM) for BayesTree.
|
|
* @author Michael Kaess
|
|
*/
|
|
|
|
// \callgraph
|
|
|
|
#pragma once
|
|
|
|
#include <map>
|
|
#include <list>
|
|
#include <vector>
|
|
#include <deque>
|
|
//#include <boost/serialization/map.hpp>
|
|
//#include <boost/serialization/list.hpp>
|
|
#include <boost/pool/pool_alloc.hpp>
|
|
#include <stdexcept>
|
|
|
|
#include <gtsam/base/Testable.h>
|
|
#include <gtsam/inference/FactorGraph.h>
|
|
#include <gtsam/inference/BayesNet.h>
|
|
#include <gtsam/inference/BayesTree.h>
|
|
|
|
namespace gtsam {
|
|
|
|
template<class Conditional>
|
|
class ISAM: public BayesTree<Conditional> {
|
|
|
|
public:
|
|
|
|
/** Create an empty Bayes Tree */
|
|
ISAM();
|
|
|
|
/** Create a Bayes Tree from a Bayes Net */
|
|
ISAM(const BayesNet<Conditional>& bayesNet);
|
|
|
|
typedef typename BayesTree<Conditional>::sharedClique sharedClique;
|
|
|
|
typedef typename BayesTree<Conditional>::Cliques Cliques;
|
|
|
|
/**
|
|
* iSAM. (update_internal provides access to list of orphans for drawing purposes)
|
|
*/
|
|
template<class FactorGraph>
|
|
void update_internal(const FactorGraph& newFactors, Cliques& orphans);
|
|
template<class FactorGraph>
|
|
void update(const FactorGraph& newFactors);
|
|
|
|
}; // ISAM
|
|
|
|
} /// namespace gtsam
|