Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix default parameters in constructor of IncrementalFixedLagSmoother.h #152

Merged
merged 2 commits into from
Oct 18, 2019
Merged

fix default parameters in constructor of IncrementalFixedLagSmoother.h #152

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
dcb8292
fix default parameters in constructor of IncrementalFixedLagSmoother.h
Oct 17, 2019
38982ae
changed function name and made it static
Oct 17, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 9 additions & 1 deletion gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ class GTSAM_UNSTABLE_EXPORT IncrementalFixedLagSmoother: public FixedLagSmoother

/** default constructor */
IncrementalFixedLagSmoother(double smootherLag = 0.0,
const ISAM2Params& parameters = ISAM2Params()) :
const ISAM2Params& parameters = DefaultISAM2Params()) :
FixedLagSmoother(smootherLag), isam_(parameters) {
}

Expand Down Expand Up @@ -114,6 +114,14 @@ class GTSAM_UNSTABLE_EXPORT IncrementalFixedLagSmoother: public FixedLagSmoother
const ISAM2Result& getISAM2Result() const{ return isamResult_; }

protected:

/** Create default parameters */
static ISAM2Params DefaultISAM2Params() {
ISAM2Params params;
params.findUnusedFactorSlots = true;
return params;
}

/** An iSAM2 object used to perform inference. The smoother lag is controlled
* by what factors are removed each iteration */
ISAM2 isam_;
Expand Down