holistic_fusion::OptimizerIsam2FixedLag Class Reference

#include <OptimizerIsam2FixedLag.hpp>

Inheritance diagram for holistic_fusion::OptimizerIsam2FixedLag:

Collaboration diagram for holistic_fusion::OptimizerIsam2FixedLag:

Public Member Functions
	OptimizerIsam2FixedLag (const std::shared_ptr< GraphConfig > graphConfigPtr)
	~OptimizerIsam2FixedLag ()=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)
void	optimize (int maxIterations) override
const gtsam::Values &	getAllOptimizedStates () override
gtsam::KeyVector	getAllOptimizedKeys () override
const gtsam::NonlinearFactorGraph &	getNonlinearFactorGraph () const
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::IncrementalFixedLagSmoother >	fixedLagSmootherPtr_
gtsam::Values	fixedLagSmootherOptimizedResult_

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 20 of file OptimizerIsam2FixedLag.hpp.

Constructor & Destructor Documentation

OptimizerIsam2FixedLag()

holistic_fusion::OptimizerIsam2FixedLag::OptimizerIsam2FixedLag ( const std::shared_ptr< GraphConfig > graphConfigPtr )

inlineexplicit

Definition at line 22 of file OptimizerIsam2FixedLag.hpp.

~OptimizerIsam2FixedLag()

holistic_fusion::OptimizerIsam2FixedLag::~OptimizerIsam2FixedLag ( )

default

Member Function Documentation

calculateEstimatedBias()

gtsam::imuBias::ConstantBias holistic_fusion::OptimizerIsam2FixedLag::calculateEstimatedBias ( const gtsam::Key & key )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 333 of file OptimizerIsam2FixedLag.hpp.

calculateEstimatedPoint3()

gtsam::Point3 holistic_fusion::OptimizerIsam2FixedLag::calculateEstimatedPoint3 ( const gtsam::Key & key )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 337 of file OptimizerIsam2FixedLag.hpp.

calculateEstimatedPose3()

gtsam::Pose3 holistic_fusion::OptimizerIsam2FixedLag::calculateEstimatedPose3 ( const gtsam::Key & key )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 325 of file OptimizerIsam2FixedLag.hpp.

calculateEstimatedVector()

gtsam::Vector holistic_fusion::OptimizerIsam2FixedLag::calculateEstimatedVector ( const gtsam::Key & key )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 341 of file OptimizerIsam2FixedLag.hpp.

calculateEstimatedVelocity3()

gtsam::Vector3 holistic_fusion::OptimizerIsam2FixedLag::calculateEstimatedVelocity3 ( const gtsam::Key & key )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 329 of file OptimizerIsam2FixedLag.hpp.

calculateMarginalCovarianceMatrixAtKey()

gtsam::Matrix holistic_fusion::OptimizerIsam2FixedLag::calculateMarginalCovarianceMatrixAtKey ( const gtsam::Key & key )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 346 of file OptimizerIsam2FixedLag.hpp.

getAllOptimizedKeys()

gtsam::KeyVector holistic_fusion::OptimizerIsam2FixedLag::getAllOptimizedKeys ( )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 315 of file OptimizerIsam2FixedLag.hpp.

getAllOptimizedStates()

const gtsam::Values & holistic_fusion::OptimizerIsam2FixedLag::getAllOptimizedStates ( )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 304 of file OptimizerIsam2FixedLag.hpp.

getFullKeyTimestampMap()

const std::map< gtsam::Key, double > & holistic_fusion::OptimizerIsam2FixedLag::getFullKeyTimestampMap ( )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 321 of file OptimizerIsam2FixedLag.hpp.

getNonlinearFactorGraph()

const gtsam::NonlinearFactorGraph & holistic_fusion::OptimizerIsam2FixedLag::getNonlinearFactorGraph ( ) const

inlinevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 318 of file OptimizerIsam2FixedLag.hpp.

optimize()

void holistic_fusion::OptimizerIsam2FixedLag::optimize ( int maxIterations )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 296 of file OptimizerIsam2FixedLag.hpp.

update() [1/2]

bool holistic_fusion::OptimizerIsam2FixedLag::update ( )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 40 of file OptimizerIsam2FixedLag.hpp.

update() [2/2]

bool holistic_fusion::OptimizerIsam2FixedLag::update ( const gtsam::NonlinearFactorGraph & newGraphFactors, const gtsam::Values & newGraphValues, const std::map< gtsam::Key, double > & newGraphKeysTimeStampMap, const int depth = 0 )

inlinevirtual

Implements holistic_fusion::OptimizerBase.

Definition at line 45 of file OptimizerIsam2FixedLag.hpp.

Member Data Documentation

fixedLagSmootherOptimizedResult_

gtsam::Values holistic_fusion::OptimizerIsam2FixedLag::fixedLagSmootherOptimizedResult_

private

Definition at line 358 of file OptimizerIsam2FixedLag.hpp.

fixedLagSmootherPtr_

std::shared_ptr<gtsam::IncrementalFixedLagSmoother> holistic_fusion::OptimizerIsam2FixedLag::fixedLagSmootherPtr_

private

Definition at line 356 of file OptimizerIsam2FixedLag.hpp.

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

• holistic_fusion/include/holistic_fusion/core/optimizer/OptimizerIsam2FixedLag.hpp