gtsam_points::NonlinearFactorSetGPU Class Reference

This class holds a set of GPU-based NonlinearFactors and manages their linearization and cost evaluation tasks. More...

#include <nonlinear_factor_set_gpu.hpp>

Inheritance diagram for gtsam_points::NonlinearFactorSetGPU:

Collaboration diagram for gtsam_points::NonlinearFactorSetGPU:

Public Member Functions
int	size () const override
	Number of GPU factors in this set.
void	clear () override
	Remove all factors.
void	clear_counts () override
	Reset linearization and cost evaluation counts.
int	linearization_count () const override
	Number of issued linearization tasks.
int	evaluation_count () const override
	Number of issued cost evaluation tasks.
bool	add (gtsam::NonlinearFactor::shared_ptr factor) override
	Add a factor to the GPU factor set if it is a GPU-based one.
void	add (const gtsam::NonlinearFactorGraph &factors) override
	Add all GPU-based factors in a factor graph to the GPU factor set.
void	linearize (const gtsam::Values &linearization_point) override
	Compute all GPU-based linearization tasks.
void	error (const gtsam::Values &values) override
	Compute all GPU-based cost evaluation tasks.
std::vector< gtsam::GaussianFactor::shared_ptr >	calc_linear_factors (const gtsam::Values &linearization_point) override
	Calculate linearized factors.

Detailed Description

This class holds a set of GPU-based NonlinearFactors and manages their linearization and cost evaluation tasks.

Member Function Documentation

add() [1/2]

void gtsam_points::NonlinearFactorSetGPU::add ( const gtsam::NonlinearFactorGraph &  factors )

override

Add all GPU-based factors in a factor graph to the GPU factor set.

Parameters

factors

Factor graph

add() [2/2]

bool gtsam_points::NonlinearFactorSetGPU::add ( gtsam::NonlinearFactor::shared_ptr  factor )

override

Add a factor to the GPU factor set if it is a GPU-based one.

Parameters

factor

Nonlinear factor

Returns

True if the factor is GPU-based one and added to the set

calc_linear_factors()

std::vector< gtsam::GaussianFactor::shared_ptr > gtsam_points::NonlinearFactorSetGPU::calc_linear_factors ( const gtsam::Values &  linearization_point )

override

Calculate linearized factors.

Parameters

linearization_point

Current estimated

Returns

Linearized factors

error()

void gtsam_points::NonlinearFactorSetGPU::error ( const gtsam::Values &  values )

override

Compute all GPU-based cost evaluation tasks.

Parameters

values

Current estimate

evaluation_count()

int gtsam_points::NonlinearFactorSetGPU::evaluation_count ( ) const

inlineoverride

Number of issued cost evaluation tasks.

Returns

int

linearization_count()

int gtsam_points::NonlinearFactorSetGPU::linearization_count ( ) const

inlineoverride

Number of issued linearization tasks.

Returns

int

linearize()

void gtsam_points::NonlinearFactorSetGPU::linearize ( const gtsam::Values &  linearization_point )

override

Compute all GPU-based linearization tasks.

Parameters

linearization_point

Current estimate

size()

int gtsam_points::NonlinearFactorSetGPU::size ( ) const

inlineoverride

Number of GPU factors in this set.

Returns

Number of GPU factors in this set

---

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

• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/cuda/nonlinear_factor_set_gpu.hpp