ISAM2Optimizer Class Reference

ISAM2 optimizer for graph SLAM. More...

#include <isam2_optimizer.hpp>

Inheritance diagram for ISAM2Optimizer:

Collaboration diagram for ISAM2Optimizer:

Public Member Functions
	ISAM2Optimizer (const SLAMParameters &params)
	ISAM2Optimizer (const ISAM2Optimizer &other)
ISAM2Optimizer &	operator= (const ISAM2Optimizer &other)
	~ISAM2Optimizer () override=default
std::shared_ptr< BaseOptimizer >	clone () const
	Clone the optimizer.
gtsam::Values	optimize (gtsam::NonlinearFactorGraph &factor_graph, gtsam::Values &graph_values, unsigned int pose_num, unsigned int landmark_num) override
	Optimize the graph.
Public Member Functions inherited from BaseOptimizer
	BaseOptimizer (const SLAMParameters &params)
	BaseOptimizer (const BaseOptimizer &other)
BaseOptimizer &	operator= (const BaseOptimizer &other)
virtual	~BaseOptimizer ()=default

Private Attributes
gtsam::ISAM2	_isam2_
gtsam::Values	_last_estimate_
gtsam::Values	_new_values_
gtsam::NonlinearFactorGraph	_new_factors_

Friends
class	GraphSLAMInstance

Additional Inherited Members
Protected Attributes inherited from BaseOptimizer
const SLAMParameters &	_params_

Detailed Description

ISAM2 optimizer for graph SLAM.

This class implements the ISAM2 optimizer for graph SLAM It uses the GTSAM ISAM2 implementation to optimize the factor graph incrementally

Definition at line 17 of file isam2_optimizer.hpp.

Constructor & Destructor Documentation

ISAM2Optimizer() [1/2]

ISAM2Optimizer::ISAM2Optimizer

(

const SLAMParameters &

params

)

Definition at line 18 of file isam2_optimizer.cpp.

ISAM2Optimizer() [2/2]

ISAM2Optimizer::ISAM2Optimizer

(

const ISAM2Optimizer &

other

)

Definition at line 31 of file isam2_optimizer.cpp.

~ISAM2Optimizer()

ISAM2Optimizer::~ISAM2Optimizer ( )

overridedefault

Member Function Documentation

clone()

std::shared_ptr< BaseOptimizer > ISAM2Optimizer::clone ( ) const

virtual

Clone the optimizer.

This method is used to create a copy of the optimizer It is useful for polymorphic classes that use pointers to base class

Returns

A shared pointer to the cloned optimizer

Implements BaseOptimizer.

Definition at line 51 of file isam2_optimizer.cpp.

operator=()

ISAM2Optimizer & ISAM2Optimizer::operator=

(

const ISAM2Optimizer &

other

)

Definition at line 38 of file isam2_optimizer.cpp.

Here is the call graph for this function:

optimize()

gtsam::Values ISAM2Optimizer::optimize ( gtsam::NonlinearFactorGraph &  factor_graph, gtsam::Values &  graph_values, unsigned int  pose_num, unsigned int  landmark_num  )

overridevirtual

Optimize the graph.

This method is used to run the optimization on the graph It also updates the pose and the graph values accordingly afterwards It may change the factor graph ISAM2 optimization is incremental, so it uses its own graph and values to optimize TODO: improve this architecture to avoid confusion

Parameters

factor_graph	The factor graph to optimize
graph_values	The values to optimize
pose_num	The number of poses in the graph
landmark_num	The number of landmarks in the graph

Returns

The optimized values

Implements BaseOptimizer.

Definition at line 55 of file isam2_optimizer.cpp.

Friends And Related Symbol Documentation

GraphSLAMInstance

friend class GraphSLAMInstance

friend

Definition at line 57 of file isam2_optimizer.hpp.

Member Data Documentation

_isam2_

gtsam::ISAM2 ISAM2Optimizer::_isam2_

private

Definition at line 18 of file isam2_optimizer.hpp.

_last_estimate_

gtsam::Values ISAM2Optimizer::_last_estimate_

private

Definition at line 19 of file isam2_optimizer.hpp.

_new_factors_

gtsam::NonlinearFactorGraph ISAM2Optimizer::_new_factors_

private

Definition at line 21 of file isam2_optimizer.hpp.

_new_values_

gtsam::Values ISAM2Optimizer::_new_values_

private

Definition at line 20 of file isam2_optimizer.hpp.

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

• src/slam/include/slam_solver/graph_slam_solver/optimizer/isam2_optimizer.hpp
• src/slam/src/slam_solver/graph_slam_solver/optimizer/isam2_optimizer.cpp