holistic_fusion::OptimizerBase Class Reference

#include <OptimizerBase.h>

Inheritance diagram for holistic_fusion::OptimizerBase:

Public Member Functions
	OptimizerBase (const std::shared_ptr< GraphConfig > graphConfigPtr)
	~OptimizerBase ()=default
virtual bool	update ()=0
virtual bool	update (const gtsam::NonlinearFactorGraph &newGraphFactors, const gtsam::Values &newGraphValues, const std::map< gtsam::Key, double > &newGraphKeysTimeStampMap, const int depth=0)=0
virtual bool	updateExistingValues (const gtsam::Values &newGraphValues)=0
virtual void	optimize (int maxIterations)=0
virtual const gtsam::Values &	getAllOptimizedStates ()=0
virtual gtsam::KeyVector	getAllOptimizedKeys ()=0
virtual const gtsam::NonlinearFactorGraph &	getNonlinearFactorGraph () const =0
virtual const std::map< gtsam::Key, double > &	getFullKeyTimestampMap ()=0
virtual gtsam::Pose3	calculateEstimatedPose3 (const gtsam::Key &key)=0
virtual gtsam::Vector3	calculateEstimatedVelocity3 (const gtsam::Key &key)=0
virtual gtsam::imuBias::ConstantBias	calculateEstimatedBias (const gtsam::Key &key)=0
virtual gtsam::Point3	calculateEstimatedPoint3 (const gtsam::Key &key)=0
virtual gtsam::Vector	calculateEstimatedVector (const gtsam::Key &key)=0
virtual gtsam::Matrix	calculateMarginalCovarianceMatrixAtKey (const gtsam::Key &key)=0
virtual void	addLatestImuBiasBelief (const gtsam::imuBias::ConstantBias &imuBias)
virtual void	addLatestPoseBelief (const gtsam::Pose3 &pose)

Protected Attributes
std::shared_ptr< GraphConfig >	graphConfigPtr_
gtsam::imuBias::ConstantBias	latestImuBias_
gtsam::Pose3	latestPose_

Detailed Description

Definition at line 22 of file OptimizerBase.h.

Constructor & Destructor Documentation

OptimizerBase()

holistic_fusion::OptimizerBase::OptimizerBase ( const std::shared_ptr< GraphConfig > graphConfigPtr )

inlineexplicit

Definition at line 25 of file OptimizerBase.h.

~OptimizerBase()

holistic_fusion::OptimizerBase::~OptimizerBase ( )

default

Member Function Documentation

addLatestImuBiasBelief()

virtual void holistic_fusion::OptimizerBase::addLatestImuBiasBelief ( const gtsam::imuBias::ConstantBias & imuBias )

inlinevirtual

Definition at line 53 of file OptimizerBase.h.

addLatestPoseBelief()

virtual void holistic_fusion::OptimizerBase::addLatestPoseBelief ( const gtsam::Pose3 & pose )

inlinevirtual

Definition at line 58 of file OptimizerBase.h.

calculateEstimatedBias()

virtual gtsam::imuBias::ConstantBias holistic_fusion::OptimizerBase::calculateEstimatedBias ( const gtsam::Key & key )

pure virtual

Implemented in holistic_fusion::OptimizerIsam2Batch, holistic_fusion::OptimizerIsam2FixedLag, holistic_fusion::OptimizerLMBatch, and holistic_fusion::OptimizerLMFixedLag.

calculateEstimatedPoint3()

virtual gtsam::Point3 holistic_fusion::OptimizerBase::calculateEstimatedPoint3 ( const gtsam::Key & key )

pure virtual

Implemented in holistic_fusion::OptimizerIsam2Batch, holistic_fusion::OptimizerIsam2FixedLag, holistic_fusion::OptimizerLMBatch, and holistic_fusion::OptimizerLMFixedLag.

calculateEstimatedPose3()

virtual gtsam::Pose3 holistic_fusion::OptimizerBase::calculateEstimatedPose3 ( const gtsam::Key & key )

pure virtual

Implemented in holistic_fusion::OptimizerIsam2Batch, holistic_fusion::OptimizerIsam2FixedLag, holistic_fusion::OptimizerLMBatch, and holistic_fusion::OptimizerLMFixedLag.

calculateEstimatedVector()

virtual gtsam::Vector holistic_fusion::OptimizerBase::calculateEstimatedVector ( const gtsam::Key & key )

pure virtual

Implemented in holistic_fusion::OptimizerIsam2Batch, holistic_fusion::OptimizerIsam2FixedLag, holistic_fusion::OptimizerLMBatch, and holistic_fusion::OptimizerLMFixedLag.

calculateEstimatedVelocity3()

virtual gtsam::Vector3 holistic_fusion::OptimizerBase::calculateEstimatedVelocity3 ( const gtsam::Key & key )

pure virtual

Implemented in holistic_fusion::OptimizerIsam2Batch, holistic_fusion::OptimizerIsam2FixedLag, holistic_fusion::OptimizerLMBatch, and holistic_fusion::OptimizerLMFixedLag.

calculateMarginalCovarianceMatrixAtKey()

virtual gtsam::Matrix holistic_fusion::OptimizerBase::calculateMarginalCovarianceMatrixAtKey ( const gtsam::Key & key )

pure virtual

Implemented in holistic_fusion::OptimizerIsam2Batch, holistic_fusion::OptimizerIsam2FixedLag, holistic_fusion::OptimizerLMBatch, and holistic_fusion::OptimizerLMFixedLag.

getAllOptimizedKeys()

virtual gtsam::KeyVector holistic_fusion::OptimizerBase::getAllOptimizedKeys ( )

pure virtual

Implemented in holistic_fusion::OptimizerIsam2Batch, holistic_fusion::OptimizerIsam2FixedLag, holistic_fusion::OptimizerLMBatch, and holistic_fusion::OptimizerLMFixedLag.

getAllOptimizedStates()

virtual const gtsam::Values & holistic_fusion::OptimizerBase::getAllOptimizedStates ( )

pure virtual

Implemented in holistic_fusion::OptimizerIsam2Batch, holistic_fusion::OptimizerIsam2FixedLag, holistic_fusion::OptimizerLMBatch, and holistic_fusion::OptimizerLMFixedLag.

getFullKeyTimestampMap()

virtual const std::map< gtsam::Key, double > & holistic_fusion::OptimizerBase::getFullKeyTimestampMap ( )

pure virtual

Implemented in holistic_fusion::OptimizerIsam2Batch, holistic_fusion::OptimizerIsam2FixedLag, holistic_fusion::OptimizerLMBatch, and holistic_fusion::OptimizerLMFixedLag.

getNonlinearFactorGraph()

virtual const gtsam::NonlinearFactorGraph & holistic_fusion::OptimizerBase::getNonlinearFactorGraph ( ) const

pure virtual

Implemented in holistic_fusion::OptimizerIsam2Batch, holistic_fusion::OptimizerIsam2FixedLag, holistic_fusion::OptimizerLMBatch, and holistic_fusion::OptimizerLMFixedLag.

optimize()

virtual void holistic_fusion::OptimizerBase::optimize ( int maxIterations )

pure virtual

Implemented in holistic_fusion::OptimizerIsam2Batch, holistic_fusion::OptimizerIsam2FixedLag, holistic_fusion::OptimizerLMBatch, and holistic_fusion::OptimizerLMFixedLag.

update() [1/2]

virtual bool holistic_fusion::OptimizerBase::update ( )

pure virtual

Implemented in holistic_fusion::OptimizerIsam2Batch, holistic_fusion::OptimizerIsam2FixedLag, holistic_fusion::OptimizerLMBatch, and holistic_fusion::OptimizerLMFixedLag.

update() [2/2]

virtual bool holistic_fusion::OptimizerBase::update ( const gtsam::NonlinearFactorGraph & newGraphFactors, const gtsam::Values & newGraphValues, const std::map< gtsam::Key, double > & newGraphKeysTimeStampMap, const int depth = 0 )

pure virtual

Implemented in holistic_fusion::OptimizerIsam2Batch, holistic_fusion::OptimizerIsam2FixedLag, holistic_fusion::OptimizerLMBatch, and holistic_fusion::OptimizerLMFixedLag.

updateExistingValues()

virtual bool holistic_fusion::OptimizerBase::updateExistingValues ( const gtsam::Values & newGraphValues )

pure virtual

Implemented in holistic_fusion::OptimizerIsam2, holistic_fusion::OptimizerLM, and holistic_fusion::OptimizerLMBatch.

Member Data Documentation

graphConfigPtr_

std::shared_ptr<GraphConfig> holistic_fusion::OptimizerBase::graphConfigPtr_

protected

Definition at line 64 of file OptimizerBase.h.

latestImuBias_

gtsam::imuBias::ConstantBias holistic_fusion::OptimizerBase::latestImuBias_

protected

Definition at line 67 of file OptimizerBase.h.

latestPose_

gtsam::Pose3 holistic_fusion::OptimizerBase::latestPose_

protected

Definition at line 68 of file OptimizerBase.h.

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The documentation for this class was generated from the following file:

• holistic_fusion/include/holistic_fusion/core/optimizer/OptimizerBase.h