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Merge pull request #25 from jlblancoc/fix_issue_10_iSAM2
Fix iSAM2 support for smart factors
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| /* ---------------------------------------------------------------------------- | ||
| * GTSAM Copyright 2010, Georgia Tech Research Corporation, | ||
| * Atlanta, Georgia 30332-0415 | ||
| * All Rights Reserved | ||
| * Authors: Frank Dellaert, et al. (see THANKS for the full author list) | ||
| * See LICENSE for the license information | ||
| * -------------------------------------------------------------------------- */ | ||
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| /** | ||
| * @file ISAM2UpdateParams.h | ||
| * @brief Class that stores extra params for ISAM2::update() | ||
| * @author Michael Kaess, Richard Roberts, Frank Dellaert, Jose Luis Blanco | ||
| */ | ||
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| // \callgraph | ||
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| #pragma once | ||
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| #include <boost/optional.hpp> | ||
| #include <gtsam/base/FastList.h> | ||
| #include <gtsam/dllexport.h> // GTSAM_EXPORT | ||
| #include <gtsam/inference/Key.h> // Key, KeySet | ||
| #include <gtsam/nonlinear/ISAM2Result.h> //FactorIndices | ||
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| namespace gtsam { | ||
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| /** | ||
| * @addtogroup ISAM2 | ||
| * This struct is used by ISAM2::update() to pass additional parameters to | ||
| * give the user a fine-grained control on how factors and relinearized, etc. | ||
| */ | ||
| struct GTSAM_EXPORT ISAM2UpdateParams { | ||
| ISAM2UpdateParams() = default; | ||
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| /** Indices of factors to remove from system (default: empty) */ | ||
| FactorIndices removeFactorIndices; | ||
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| /** An optional map of keys to group labels, such that a variable can be | ||
| * constrained to a particular grouping in the BayesTree */ | ||
| boost::optional<FastMap<Key, int>> constrainedKeys{boost::none}; | ||
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| /** An optional set of nonlinear keys that iSAM2 will hold at a constant | ||
| * linearization point, regardless of the size of the linear delta */ | ||
| boost::optional<FastList<Key>> noRelinKeys{boost::none}; | ||
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| /** An optional set of nonlinear keys that iSAM2 will re-eliminate, regardless | ||
| * of the size of the linear delta. This allows the provided keys to be | ||
| * reordered. */ | ||
| boost::optional<FastList<Key>> extraReelimKeys{boost::none}; | ||
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| /** Relinearize any variables whose delta magnitude is sufficiently large | ||
| * (Params::relinearizeThreshold), regardless of the relinearization | ||
| * interval (Params::relinearizeSkip). */ | ||
| bool force_relinearize{false}; | ||
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| /** An optional set of new Keys that are now affected by factors, | ||
| * indexed by factor indices (as returned by ISAM2::update()). | ||
| * Use when working with smart factors. For example: | ||
| * - Timestamp `i`: ISAM2::update() called with a new smart factor depending | ||
| * on Keys `X(0)` and `X(1)`. It returns that the factor index for the new | ||
| * smart factor (inside ISAM2) is `13`. | ||
| * - Timestamp `i+1`: The same smart factor has been augmented to now also | ||
| * depend on Keys `X(2)`, `X(3)`. Next call to ISAM2::update() must include | ||
| * its `newAffectedKeys` field with the map `13 -> {X(2), X(3)}`. | ||
| */ | ||
| boost::optional<FastMap<FactorIndex,KeySet>> newAffectedKeys{boost::none}; | ||
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| }; | ||
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| } // namespace gtsam |
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