isam::Slam Class Reference

#include <Slam.h>

Inheritance diagram for isam::Slam:

Collaboration diagram for isam::Slam:

List of all members.

Public Member Functions
	Slam ()
virtual	~Slam ()
Properties	properties ()
void	set_properties (Properties prop)
void	save (const std::string fname) const
void	add_node (Node *node)
void	add_factor (Factor *factor)
void	remove_node (Node *node)
void	remove_factor (Factor *factor)
virtual UpdateStats	update ()
virtual int	batch_optimization ()
void	set_cost_function (cost_func_t cost_func)
double	normalized_chi2 ()
double	local_chi2 (int last_n)
Eigen::VectorXd	weighted_errors (Selector s=ESTIMATE)
double	chi2 (Selector s=ESTIMATE)
virtual const SparseSystem &	get_R () const
virtual SparseSystem	jacobian_numerical_columnwise ()
virtual SparseSystem	jacobian_partial (int last_n)
virtual SparseSystem	jacobian ()
const Covariances &	covariances ()
virtual void	print_stats ()
Protected Attributes
int	_dim_nodes
int	_dim_measure
int	_num_new_measurements
int	_num_new_rows
Optimizer	_opt
Friends
class	Covariances

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Detailed Description

The actual SLAM interface.

Definition at line 66 of file Slam.h.

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Constructor & Destructor Documentation

isam::Slam::Slam

(

)

Default constructor.

Definition at line 69 of file Slam.cpp.

isam::Slam::~Slam

(

)

[virtual]

Destructor.

Definition at line 80 of file Slam.cpp.

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Member Function Documentation

void isam::Slam::add_factor

(

Factor *

factor

)

[virtual]

Adds a factor (measurement) to the graph.

Parameters:

factor

Pointer to new factor.

Reimplemented from isam::Graph.

Definition at line 96 of file Slam.cpp.

void isam::Slam::add_node

(

Node *

node

)

[virtual]

Adds a node (variable) to the graph.

Parameters:

node	Pointer to new node.

Reimplemented from isam::Graph.

Definition at line 91 of file Slam.cpp.

int isam::Slam::batch_optimization

(

)

[virtual]

Fully solve the system, iterating until convergence.

Returns:

Number of iterations performed.

Definition at line 198 of file Slam.cpp.

double isam::Slam::chi2

(

Selector

s = ESTIMATE

)

Weighted sum of squared errors, by default at the current estimate.

Definition at line 266 of file Slam.cpp.

const Covariances & isam::Slam::covariances

(

)

Returns the Covariances object associated with this Slam object.

Returns:

Covariances object for access to estimation covariances.

Definition at line 391 of file Slam.cpp.

const SparseSystem & isam::Slam::get_R

(

)

const [virtual]

Returns the current factor matrix.

Definition at line 291 of file Slam.cpp.

SparseSystem isam::Slam::jacobian

(

)

[virtual]

Returns the measurement Jacobian of the SLAM system.

Returns:

Measurement Jacobian.

Implements isam::OptimizationInterface.

Definition at line 379 of file Slam.cpp.

SparseSystem isam::Slam::jacobian_numerical_columnwise

(

)

[virtual]

Calculate the full Jacobian numerical (fast column-wise procedure).

Definition at line 297 of file Slam.cpp.

SparseSystem isam::Slam::jacobian_partial

(

int

last_n

)

[virtual]

Returns the last n rows of the measurement Jacobian of the SLAM system.

Parameters:

last_n

Only return Jacobians of last n measurements (-1 returns all)

Returns:

Measurement Jacobian.

Definition at line 395 of file Slam.cpp.

double isam::Slam::local_chi2

(

int

last_n

)

Calculates the chi2 error of the last_n constraints.

Definition at line 270 of file Slam.cpp.

double isam::Slam::normalized_chi2

(

)

Calculates the normalized chi-square value (weighted sum of squared errors divided by degrees of freedom [# measurements - # variables]) for the estimate x.

Definition at line 287 of file Slam.cpp.

void isam::Slam::print_stats

(

)

[virtual]

Print statistics for debugging.

Definition at line 434 of file Slam.cpp.

Properties isam::Slam::properties

(

)

[inline]

Returns a copy of the current properties.

Definition at line 92 of file Slam.h.

void isam::Slam::remove_factor

(

Factor *

factor

)

[virtual]

Removes an factor (measurement) from the graph. Note that the factor itself is not deallocated. Be careful not to leave unconnected nodes behind.

Parameters:

factor

Pointer to factor.

Reimplemented from isam::Graph.

Definition at line 118 of file Slam.cpp.

void isam::Slam::remove_node

(

Node *

node

)

[virtual]

Removes a node (variable) and all adjacent factors from the graph. Note that the node itself is not deallocated.

Parameters:

node	Pointer to node.

Reimplemented from isam::Graph.

Definition at line 107 of file Slam.cpp.

void isam::Slam::save

(

const std::string

fname

)

const

Saves the graph (nodes and factors).

Parameters:

fname

Filename with optional path to save graph to.

Definition at line 84 of file Slam.cpp.

void isam::Slam::set_cost_function

(

cost_func_t

cost_func

)

Sets a cost function different from the default (quadratic).

Parameters:

cost_func

Pointer to cost function, see util.h for a list of robust cost functions. Instead of cost_squared, use NULL, which avoids calculating square roots.

Definition at line 212 of file Slam.cpp.

void isam::Slam::set_properties

(

Properties

prop

)

[inline]

Sets new properties.

Definition at line 99 of file Slam.h.

UpdateStats isam::Slam::update

(

)

[virtual]

Update the graph by finding new solution; depending on properties this might simply be a Givens update, could include a solve step, or be a full batch step with reordering.

Returns:

Update statistics.

Definition at line 157 of file Slam.cpp.

VectorXd isam::Slam::weighted_errors

(

Selector

s = ESTIMATE

)

[virtual]

Weighted non-squared error vector, by default at current estimate.

Implements isam::OptimizationInterface.

Definition at line 254 of file Slam.cpp.

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

• include/isam/Slam.h
• isamlib/Slam.cpp