本文整理汇总了C++中NonlinearFactorGraph::size方法的典型用法代码示例。如果您正苦于以下问题：C++ NonlinearFactorGraph::size方法的具体用法？C++ NonlinearFactorGraph::size怎么用？C++ NonlinearFactorGraph::size使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类NonlinearFactorGraph的用法示例。
在下文中一共展示了NonlinearFactorGraph::size方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: update
/* ************************************************************************* */
void NonlinearISAM::update(const NonlinearFactorGraph& newFactors,
const Values& initialValues) {
if(newFactors.size() > 0) {
// Reorder and relinearize every reorderInterval updates
if(reorderInterval_ > 0 && ++reorderCounter_ >= reorderInterval_) {
reorder_relinearize();
reorderCounter_ = 0;
}
factors_.push_back(newFactors);
// Linearize new factors and insert them
// TODO: optimize for whole config?
linPoint_.insert(initialValues);
// Augment ordering
// TODO: allow for ordering constraints within the new variables
// FIXME: should just loop over new values
BOOST_FOREACH(const NonlinearFactorGraph::sharedFactor& factor, newFactors)
BOOST_FOREACH(Key key, factor->keys())
ordering_.tryInsert(key, ordering_.nVars()); // will do nothing if already present
boost::shared_ptr<GaussianFactorGraph> linearizedNewFactors = newFactors.linearize(linPoint_, ordering_);
// Update ISAM
isam_.update(*linearizedNewFactors);
}
}示例2: update
/* ************************************************************************* */
void NonlinearISAM::update(const NonlinearFactorGraph& newFactors, const Values& initialValues) {
if(newFactors.size() > 0) {
// Reorder and relinearize every reorderInterval updates
if(reorderInterval_ > 0 && ++reorderCounter_ >= reorderInterval_) {
reorder_relinearize();
reorderCounter_ = 0;
}
factors_.push_back(newFactors);
// Linearize new factors and insert them
// TODO: optimize for whole config?
linPoint_.insert(initialValues);
boost::shared_ptr<GaussianFactorGraph> linearizedNewFactors = newFactors.linearize(linPoint_);
// Update ISAM
isam_.update(*linearizedNewFactors, eliminationFunction_);
}
}