GaussianBayesTreeQueries.h File Reference

Internal helpers for Gaussian Bayes-tree covariance queries. More...

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Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Functions
KeyVector	gtsam::internal::uniqueKeys (const KeyVector &keys)
	Return unique keys in their first-occurrence order.
std::vector< size_t >	gtsam::internal::blockOffsets (const std::vector< size_t > &dims)
	Return the scalar offsets corresponding to a sequence of block dimensions.
Matrix	gtsam::internal::informationToCovariance (const Matrix &information)
	Convert information to covariance using Cholesky solves, returning zeros when the information contains non-finite entries.
std::vector< size_t >	gtsam::internal::dimsFromBayesNet (const GaussianBayesNet &bayesNet, const KeyVector &orderedKeys)
	Return variable dimensions from a Bayes net in the requested key order.
Scatter	gtsam::internal::scatterFromKeysAndDims (const KeyVector &orderedKeys, const std::vector< size_t > &dims)
	Construct a scatter with entries in the supplied key and dimension order.
Matrix	gtsam::internal::covarianceColumns (const GaussianBayesNet &bayesNet, const KeyVector &orderedKeys, const std::vector< size_t > &dims)
	Compute covariance blocks in the requested key order using triangular solves in the Bayes net's elimination order.
JointMarginal	gtsam::internal::jointMarginalFromMatrix (const Matrix &matrix, const KeyVector &orderedKeys, const std::vector< size_t > &dims)
	Construct a joint marginal from a dense matrix and ordered block metadata.
JointMarginal	gtsam::internal::emptyJointMarginal ()
	Construct an empty joint marginal.
template<class BAYESTREE, class SINGLE_BUILDER, class MULTI_BUILDER>
JointMarginal	gtsam::internal::buildJointMarginal (const BAYESTREE &bayesTree, const KeyVector &queryKeys, const typename BAYESTREE::FactorGraphType::Eliminate &eliminate, const SINGLE_BUILDER &singleBuilder, const MULTI_BUILDER &multiBuilder)
	Build a joint marginal while sharing empty, single-key, and multi-key query handling between information and covariance calculations.
template<class BAYESTREE>
Matrix	gtsam::internal::marginalInformation (const BAYESTREE &bayesTree, Key key, const typename BAYESTREE::FactorGraphType::Eliminate &eliminate)
	Return marginal information for one key using the requested elimination.
template<class BAYESTREE>
JointMarginal	gtsam::internal::jointMarginalInformation (const BAYESTREE &bayesTree, const KeyVector &queryKeys, const typename BAYESTREE::FactorGraphType::Eliminate &eliminate)
	Return joint marginal information with blocks in query-key order.
template<class BAYESTREE>
JointMarginal	gtsam::internal::jointMarginalCovariance (const BAYESTREE &bayesTree, const KeyVector &queryKeys, const typename BAYESTREE::FactorGraphType::Eliminate &eliminate)
	Return joint marginal covariance with blocks in query-key order.

Detailed Description

Internal helpers for Gaussian Bayes-tree covariance queries.

Author

Frank Dellaert