My Project 1.0
Holistic Fusion: A Generic Framework for Multimodal Sensor Fusion
Loading...
Searching...
No Matches
holistic_fusion::OptimizerLMFixedLag Class Reference

#include <OptimizerLMFixedLag.hpp>

Inheritance diagram for holistic_fusion::OptimizerLMFixedLag:
Inheritance graph
[legend]
Collaboration diagram for holistic_fusion::OptimizerLMFixedLag:
Collaboration graph
[legend]

Public Member Functions

 OptimizerLMFixedLag (const std::shared_ptr< GraphConfig > graphConfigPtr)
 ~OptimizerLMFixedLag ()=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::OptimizerLM
 OptimizerLM (const std::shared_ptr< GraphConfig > graphConfigPtr)
 ~OptimizerLM ()=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::BatchFixedLagSmoother > fixedLagSmootherPtr_
gtsam::Values fixedLagSmootherOptimizedResult_

Additional Inherited Members

Protected Attributes inherited from holistic_fusion::OptimizerLM
gtsam::LevenbergMarquardtParams lmParams_
Protected Attributes inherited from holistic_fusion::OptimizerBase
std::shared_ptr< GraphConfig > graphConfigPtr_
gtsam::imuBias::ConstantBias latestImuBias_
gtsam::Pose3 latestPose_

Detailed Description

Definition at line 19 of file OptimizerLMFixedLag.hpp.

Constructor & Destructor Documentation

◆ OptimizerLMFixedLag()

holistic_fusion::OptimizerLMFixedLag::OptimizerLMFixedLag ( const std::shared_ptr< GraphConfig > graphConfigPtr)
inlineexplicit

Definition at line 21 of file OptimizerLMFixedLag.hpp.

◆ ~OptimizerLMFixedLag()

holistic_fusion::OptimizerLMFixedLag::~OptimizerLMFixedLag ( )
default

Member Function Documentation

◆ calculateEstimatedBias()

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

Implements holistic_fusion::OptimizerBase.

Definition at line 134 of file OptimizerLMFixedLag.hpp.

◆ calculateEstimatedPoint3()

gtsam::Point3 holistic_fusion::OptimizerLMFixedLag::calculateEstimatedPoint3 ( const gtsam::Key & key)
inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 138 of file OptimizerLMFixedLag.hpp.

◆ calculateEstimatedPose3()

gtsam::Pose3 holistic_fusion::OptimizerLMFixedLag::calculateEstimatedPose3 ( const gtsam::Key & key)
inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 126 of file OptimizerLMFixedLag.hpp.

◆ calculateEstimatedVector()

gtsam::Vector holistic_fusion::OptimizerLMFixedLag::calculateEstimatedVector ( const gtsam::Key & key)
inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 142 of file OptimizerLMFixedLag.hpp.

◆ calculateEstimatedVelocity3()

gtsam::Vector3 holistic_fusion::OptimizerLMFixedLag::calculateEstimatedVelocity3 ( const gtsam::Key & key)
inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 130 of file OptimizerLMFixedLag.hpp.

◆ calculateMarginalCovarianceMatrixAtKey()

gtsam::Matrix holistic_fusion::OptimizerLMFixedLag::calculateMarginalCovarianceMatrixAtKey ( const gtsam::Key & key)
inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 147 of file OptimizerLMFixedLag.hpp.

◆ getAllOptimizedKeys()

gtsam::KeyVector holistic_fusion::OptimizerLMFixedLag::getAllOptimizedKeys ( )
inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 116 of file OptimizerLMFixedLag.hpp.

◆ getAllOptimizedStates()

const gtsam::Values & holistic_fusion::OptimizerLMFixedLag::getAllOptimizedStates ( )
inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 113 of file OptimizerLMFixedLag.hpp.

◆ getFullKeyTimestampMap()

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

Implements holistic_fusion::OptimizerBase.

Definition at line 122 of file OptimizerLMFixedLag.hpp.

◆ getNonlinearFactorGraph()

const gtsam::NonlinearFactorGraph & holistic_fusion::OptimizerLMFixedLag::getNonlinearFactorGraph ( ) const
inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 119 of file OptimizerLMFixedLag.hpp.

◆ optimize()

void holistic_fusion::OptimizerLMFixedLag::optimize ( int maxIterations)
inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 103 of file OptimizerLMFixedLag.hpp.

◆ update() [1/2]

bool holistic_fusion::OptimizerLMFixedLag::update ( )
inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 38 of file OptimizerLMFixedLag.hpp.

◆ update() [2/2]

bool holistic_fusion::OptimizerLMFixedLag::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 43 of file OptimizerLMFixedLag.hpp.

Member Data Documentation

◆ fixedLagSmootherOptimizedResult_

gtsam::Values holistic_fusion::OptimizerLMFixedLag::fixedLagSmootherOptimizedResult_
private

Definition at line 173 of file OptimizerLMFixedLag.hpp.

◆ fixedLagSmootherPtr_

std::shared_ptr<gtsam::BatchFixedLagSmoother> holistic_fusion::OptimizerLMFixedLag::fixedLagSmootherPtr_
private

Definition at line 171 of file OptimizerLMFixedLag.hpp.

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