#include <OptimizerIsam2.hpp>

Inheritance diagram for holistic_fusion::OptimizerIsam2:

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Collaboration diagram for holistic_fusion::OptimizerIsam2:

Public Member Functions
	OptimizerIsam2 (const std::shared_ptr< GraphConfig > graphConfigPtr)
	~OptimizerIsam2 ()=default
bool	updateExistingValues (const gtsam::Values &newGraphValues) override
Public Member Functions inherited from holistic_fusion::OptimizerBase
	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 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
gtsam::ISAM2Params	isam2Params_
bool	optimizedAtLeastOnceFlag_ = false
Protected Attributes inherited from holistic_fusion::OptimizerBase
std::shared_ptr< GraphConfig >	graphConfigPtr_
gtsam::imuBias::ConstantBias	latestImuBias_
gtsam::Pose3	latestPose_

Detailed Description

Definition at line 21 of file OptimizerIsam2.hpp.

Constructor & Destructor Documentation

◆ OptimizerIsam2()

holistic_fusion::OptimizerIsam2::OptimizerIsam2 ( const std::shared_ptr< GraphConfig > graphConfigPtr )

inlineexplicit

Robot Pose

Robot Velocity

Biases

Reference Frames

Calibration

6 DoF (Position and Rotation)

3 DoF (Position Displacement)

Landmarks

Set relinearization thresholds

Definition at line 23 of file OptimizerIsam2.hpp.

◆ ~OptimizerIsam2()

holistic_fusion::OptimizerIsam2::~OptimizerIsam2 ( )

default

Member Function Documentation

◆ updateExistingValues()

bool holistic_fusion::OptimizerIsam2::updateExistingValues ( const gtsam::Values & newGraphValues )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 97 of file OptimizerIsam2.hpp.

Member Data Documentation

◆ isam2Params_

gtsam::ISAM2Params holistic_fusion::OptimizerIsam2::isam2Params_

protected

Definition at line 104 of file OptimizerIsam2.hpp.

◆ optimizedAtLeastOnceFlag_

bool holistic_fusion::OptimizerIsam2::optimizedAtLeastOnceFlag_ = false