#include <OptimizerIsam2Batch.hpp>

Inheritance diagram for holistic_fusion::OptimizerIsam2Batch:

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Collaboration diagram for holistic_fusion::OptimizerIsam2Batch:

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Public Member Functions
	OptimizerIsam2Batch (const std::shared_ptr< GraphConfig > graphConfigPtr)
	~OptimizerIsam2Batch ()=default
bool	update () override
bool	update (const gtsam::NonlinearFactorGraph &newGraphFactors, const gtsam::Values &newGraphValues, const std::map< gtsam::Key, double > &newGraphKeysTimeStampMap, const int depth=0) override
void	optimize (int maxIterations) override
const gtsam::Values &	getAllOptimizedStates () override
gtsam::KeyVector	getAllOptimizedKeys () override
const gtsam::NonlinearFactorGraph &	getNonlinearFactorGraph () const override
const std::map< gtsam::Key, double > &	getFullKeyTimestampMap () override
gtsam::Pose3	calculateEstimatedPose3 (const gtsam::Key &key) override
gtsam::Vector3	calculateEstimatedVelocity3 (const gtsam::Key &key) override
gtsam::imuBias::ConstantBias	calculateEstimatedBias (const gtsam::Key &key) override
gtsam::Point3	calculateEstimatedPoint3 (const gtsam::Key &key) override
gtsam::Vector	calculateEstimatedVector (const gtsam::Key &key) override
gtsam::Matrix	calculateMarginalCovarianceMatrixAtKey (const gtsam::Key &key) override
Public Member Functions inherited from holistic_fusion::OptimizerIsam2
	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 void	addLatestImuBiasBelief (const gtsam::imuBias::ConstantBias &imuBias)
virtual void	addLatestPoseBelief (const gtsam::Pose3 &pose)

Private Attributes
std::shared_ptr< gtsam::ISAM2 >	batchSmootherPtr_
gtsam::NonlinearFactorGraph	containerBatchSmootherFactors_
gtsam::Values	containerBatchSmootherValues_
gtsam::ISAM2Result	batchSmootherIsam2Result_
gtsam::Values	batchSmootherOptimizedResult_
std::map< gtsam::Key, double >	batchSmootherKeyTimestampMap_

Additional Inherited Members
Protected Attributes inherited from holistic_fusion::OptimizerIsam2
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 16 of file OptimizerIsam2Batch.hpp.

Constructor & Destructor Documentation

◆ OptimizerIsam2Batch()

holistic_fusion::OptimizerIsam2Batch::OptimizerIsam2Batch ( const std::shared_ptr< GraphConfig > graphConfigPtr )

inlineexplicit

Definition at line 18 of file OptimizerIsam2Batch.hpp.

◆ ~OptimizerIsam2Batch()

holistic_fusion::OptimizerIsam2Batch::~OptimizerIsam2Batch ( )

default

Member Function Documentation

◆ calculateEstimatedBias()

gtsam::imuBias::ConstantBias holistic_fusion::OptimizerIsam2Batch::calculateEstimatedBias ( const gtsam::Key & key )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 97 of file OptimizerIsam2Batch.hpp.

◆ calculateEstimatedPoint3()

gtsam::Point3 holistic_fusion::OptimizerIsam2Batch::calculateEstimatedPoint3 ( const gtsam::Key & key )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 101 of file OptimizerIsam2Batch.hpp.

◆ calculateEstimatedPose3()

gtsam::Pose3 holistic_fusion::OptimizerIsam2Batch::calculateEstimatedPose3 ( const gtsam::Key & key )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 91 of file OptimizerIsam2Batch.hpp.

◆ calculateEstimatedVector()

gtsam::Vector holistic_fusion::OptimizerIsam2Batch::calculateEstimatedVector ( const gtsam::Key & key )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 105 of file OptimizerIsam2Batch.hpp.

◆ calculateEstimatedVelocity3()

gtsam::Vector3 holistic_fusion::OptimizerIsam2Batch::calculateEstimatedVelocity3 ( const gtsam::Key & key )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 93 of file OptimizerIsam2Batch.hpp.

◆ calculateMarginalCovarianceMatrixAtKey()

gtsam::Matrix holistic_fusion::OptimizerIsam2Batch::calculateMarginalCovarianceMatrixAtKey ( const gtsam::Key & key )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 109 of file OptimizerIsam2Batch.hpp.

◆ getAllOptimizedKeys()

gtsam::KeyVector holistic_fusion::OptimizerIsam2Batch::getAllOptimizedKeys ( )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 81 of file OptimizerIsam2Batch.hpp.

◆ getAllOptimizedStates()

const gtsam::Values & holistic_fusion::OptimizerIsam2Batch::getAllOptimizedStates ( )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 70 of file OptimizerIsam2Batch.hpp.

◆ getFullKeyTimestampMap()

const std::map< gtsam::Key, double > & holistic_fusion::OptimizerIsam2Batch::getFullKeyTimestampMap ( )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 87 of file OptimizerIsam2Batch.hpp.

◆ getNonlinearFactorGraph()

const gtsam::NonlinearFactorGraph & holistic_fusion::OptimizerIsam2Batch::getNonlinearFactorGraph ( ) const

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 84 of file OptimizerIsam2Batch.hpp.

◆ optimize()

void holistic_fusion::OptimizerIsam2Batch::optimize ( int maxIterations )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 51 of file OptimizerIsam2Batch.hpp.

◆ update() [1/2]

bool holistic_fusion::OptimizerIsam2Batch::update ( )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 37 of file OptimizerIsam2Batch.hpp.

◆ update() [2/2]

bool holistic_fusion::OptimizerIsam2Batch::update	(	const gtsam::NonlinearFactorGraph &	newGraphFactors,
		const gtsam::Values &	newGraphValues,
		const std::map< gtsam::Key, double > &	newGraphKeysTimeStampMap,
		const int	depth = 0 )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 40 of file OptimizerIsam2Batch.hpp.

Member Data Documentation

◆ batchSmootherIsam2Result_

gtsam::ISAM2Result holistic_fusion::OptimizerIsam2Batch::batchSmootherIsam2Result_

private

Definition at line 123 of file OptimizerIsam2Batch.hpp.

◆ batchSmootherKeyTimestampMap_

std::map<gtsam::Key, double> holistic_fusion::OptimizerIsam2Batch::batchSmootherKeyTimestampMap_

private

Definition at line 125 of file OptimizerIsam2Batch.hpp.

◆ batchSmootherOptimizedResult_

gtsam::Values holistic_fusion::OptimizerIsam2Batch::batchSmootherOptimizedResult_

private

Definition at line 124 of file OptimizerIsam2Batch.hpp.

◆ batchSmootherPtr_

std::shared_ptr<gtsam::ISAM2> holistic_fusion::OptimizerIsam2Batch::batchSmootherPtr_

private

Definition at line 118 of file OptimizerIsam2Batch.hpp.

◆ containerBatchSmootherFactors_

gtsam::NonlinearFactorGraph holistic_fusion::OptimizerIsam2Batch::containerBatchSmootherFactors_

private

Definition at line 120 of file OptimizerIsam2Batch.hpp.

◆ containerBatchSmootherValues_

gtsam::Values holistic_fusion::OptimizerIsam2Batch::containerBatchSmootherValues_

private

Definition at line 121 of file OptimizerIsam2Batch.hpp.

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

holistic_fusion/include/holistic_fusion/core/optimizer/OptimizerIsam2Batch.hpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OptimizerIsam2Batch()

◆ ~OptimizerIsam2Batch()

Member Function Documentation

◆ calculateEstimatedBias()

◆ calculateEstimatedPoint3()

◆ calculateEstimatedPose3()

◆ calculateEstimatedVector()

◆ calculateEstimatedVelocity3()

◆ calculateMarginalCovarianceMatrixAtKey()

◆ getAllOptimizedKeys()

◆ getAllOptimizedStates()

◆ getFullKeyTimestampMap()

◆ getNonlinearFactorGraph()

◆ optimize()

◆ update() [1/2]

◆ update() [2/2]

Member Data Documentation

◆ batchSmootherIsam2Result_

◆ batchSmootherKeyTimestampMap_

◆ batchSmootherOptimizedResult_

◆ batchSmootherPtr_

◆ containerBatchSmootherFactors_

◆ containerBatchSmootherValues_