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gtsam::HybridBayesTree Class Reference
Detailed Description
A Bayes tree representing a Hybrid density.
Inheritance diagram for gtsam::HybridBayesTree:
Public Member Functions | |
Standard interface | |
| HybridBayesTree ()=default | |
| Default constructor, creates an empty Bayes tree. | |
| bool | equals (const This &other, double tol=1e-9) const |
| Check equality. | |
| GaussianBayesTree | choose (const DiscreteValues &assignment) const |
| Get the Gaussian Bayes Tree which corresponds to a specific discrete value assignment. | |
| double | error (const HybridValues &values) const |
| Error for all conditionals. | |
| HybridValues | optimize () const |
| Optimize the hybrid Bayes tree by computing the MPE for the current set of discrete variables and using it to compute the best continuous update delta. | |
| VectorValues | optimize (const DiscreteValues &assignment) const |
| Recursively optimize the BayesTree to produce a vector solution. | |
| DiscreteValues | mpe () const |
| Compute the Most Probable Explanation (MPE) of the discrete variables. | |
| void | prune (const size_t maxNumberLeaves) |
| Prune the underlying Bayes tree. | |
| Public Member Functions inherited from gtsam::BayesTree< HybridBayesTreeClique > | |
| bool | equals (const This &other, double tol=1e-9) const |
| check equality | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| print | |
| size_t | size () const |
| number of cliques | |
| bool | empty () const |
| Check if there are any cliques in the tree. | |
| const Nodes & | nodes () const |
| Return nodes. | |
| sharedClique | operator[] (Key j) const |
| Access node by variable. | |
| const Roots & | roots () const |
| return root cliques | |
| const sharedClique & | clique (Key j) const |
| alternate syntax for matlab: find the clique that contains the variable with Key j | |
| BayesTreeCliqueData | getCliqueData () const |
| Gather data on all cliques. | |
| size_t | numCachedSeparatorMarginals () const |
| Collect number of cliques with cached separator marginals. | |
| sharedConditional | marginalFactor (Key j, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const |
| Return marginal on any variable. | |
| sharedFactorGraph | joint (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const |
| return joint on two variables Limitation: can only calculate joint if cliques are disjoint or one of them is root | |
| sharedFactorGraph | joint (const KeyVector &keys, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const |
| Return a joint factor graph on an arbitrary set of variables. | |
| sharedBayesNet | jointBayesNet (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const |
| return joint on two variables as a BayesNet Limitation: can only calculate joint if cliques are disjoint or one of them is root | |
| sharedBayesNet | jointBayesNet (const KeyVector &keys, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const |
| Return a joint marginal Bayes net whose elimination order follows the first occurrence of each key. | |
| void | dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| Output to graphviz format, stream version. | |
| std::string | dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| Output to graphviz format string. | |
| void | saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| output to file with graphviz format. | |
| Key | findParentClique (const CONTAINER &parents) const |
| Find parent clique of a conditional. | |
| void | clear () |
| Remove all nodes. | |
| void | deleteCachedShortcuts () |
| Clear all shortcut caches - use before timing on marginal calculation to avoid residual cache data. | |
| void | removePath (sharedClique clique, BayesNetType *bn, Cliques *orphans) |
| Remove path from clique to root and return that path as factors plus a list of orphaned subtree roots. | |
| void | removeTop (const KeyVector &keys, BayesNetType *bn, Cliques *orphans) |
| Given a list of indices, turn "contaminated" part of the tree back into a factor graph. | |
| Cliques | removeSubtree (const sharedClique &subtree) |
| Remove the requested subtree. | |
| void | insertRoot (const sharedClique &subtree) |
| Insert a new subtree with known parent clique. | |
| void | addClique (const sharedClique &clique, const sharedClique &parent_clique=sharedClique()) |
| add a clique (top down) | |
| void | addFactorsToGraph (FactorGraph< FactorType > *graph) const |
| Add all cliques in this BayesTree to the specified factor graph. | |
| gtsam::KeySet | collectAffectedKeys (const gtsam::KeyVector &keys) const |
| Returns the set of keys from the tree that are affected by a update to 'keys'. | |
Public Types | |
| typedef HybridBayesTree | This |
| typedef std::shared_ptr< This > | shared_ptr |
| Public Types inherited from gtsam::BayesTree< HybridBayesTreeClique > | |
| typedef HybridBayesTreeClique | Clique |
| The clique type, normally BayesTreeClique. | |
| typedef std::shared_ptr< Clique > | sharedClique |
| Shared pointer to a clique. | |
| typedef Clique | Node |
| Synonym for Clique (TODO: remove). | |
| typedef sharedClique | sharedNode |
| Synonym for sharedClique (TODO: remove). | |
| typedef HybridBayesTreeClique::ConditionalType | ConditionalType |
| typedef std::shared_ptr< ConditionalType > | sharedConditional |
| typedef HybridBayesTreeClique::BayesNetType | BayesNetType |
| typedef std::shared_ptr< BayesNetType > | sharedBayesNet |
| typedef HybridBayesTreeClique::FactorType | FactorType |
| typedef std::shared_ptr< FactorType > | sharedFactor |
| typedef HybridBayesTreeClique::FactorGraphType | FactorGraphType |
| typedef std::shared_ptr< FactorGraphType > | sharedFactorGraph |
| typedef FactorGraphType::Eliminate | Eliminate |
| typedef HybridBayesTreeClique::EliminationTraitsType | EliminationTraitsType |
| typedef FastList< sharedClique > | Cliques |
| A convenience class for a list of shared cliques. | |
| typedef ConcurrentMap< Key, sharedClique > | Nodes |
| Map from keys to Clique. | |
| typedef FastVector< sharedClique > | Roots |
| Root cliques. | |
Additional Inherited Members | |
| Protected Types inherited from gtsam::BayesTree< HybridBayesTreeClique > | |
| typedef BayesTree< HybridBayesTreeClique > | This |
| typedef std::shared_ptr< This > | shared_ptr |
| Protected Member Functions inherited from gtsam::BayesTree< HybridBayesTreeClique > | |
| ~BayesTree () | |
| Destructor. | |
| This & | operator= (const This &other) |
| Assignment operator. | |
| BayesTree () | |
| Create an empty Bayes Tree. | |
| BayesTree (const This &other) | |
| Copy constructor. | |
| void | dot (std::ostream &s, sharedClique clique, const KeyFormatter &keyFormatter, size_t parentnum=0) const |
| private helper method for saving the Tree to a text file in GraphViz format | |
| void | getCliqueData (sharedClique clique, BayesTreeCliqueData *stats) const |
| Gather data on a single clique. | |
| void | removeClique (sharedClique clique) |
| remove a clique: warning, can result in a forest | |
| void | fillNodesIndex (const sharedClique &subtree) |
| Fill the nodes index for a subtree. | |
| void | collectAffectedPathKeys (gtsam::KeySet &traversedKeys, const sharedClique &clique) const |
| Helper for collectAffectedKeys that recursively aggregates affected keys from a path from 'clique' to the root of tree. | |
| Protected Attributes inherited from gtsam::BayesTree< HybridBayesTreeClique > | |
| Nodes | nodes_ |
| Map from indices to Clique. | |
| Roots | roots_ |
| Root cliques. | |
Member Function Documentation
◆ choose()
| GaussianBayesTree gtsam::HybridBayesTree::choose | ( | const DiscreteValues & | assignment | ) | const |
Get the Gaussian Bayes Tree which corresponds to a specific discrete value assignment.
- Parameters
-
assignment The discrete value assignment for the discrete keys.
- Returns
- GaussianBayesTree
◆ mpe()
| DiscreteValues gtsam::HybridBayesTree::mpe | ( | ) | const |
Compute the Most Probable Explanation (MPE) of the discrete variables.
- Returns
- DiscreteValues
◆ optimize() [1/2]
| HybridValues gtsam::HybridBayesTree::optimize | ( | ) | const |
Optimize the hybrid Bayes tree by computing the MPE for the current set of discrete variables and using it to compute the best continuous update delta.
- Returns
- HybridValues
◆ optimize() [2/2]
| VectorValues gtsam::HybridBayesTree::optimize | ( | const DiscreteValues & | assignment | ) | const |
Recursively optimize the BayesTree to produce a vector solution.
- Parameters
-
assignment The discrete values assignment to select the hybrid conditional.
- Returns
- VectorValues
◆ prune()
| void gtsam::HybridBayesTree::prune | ( | const size_t | maxNumberLeaves | ) |
Prune the underlying Bayes tree.
- Parameters
-
maxNumberLeaves The max number of leaf nodes to keep.
Helper struct for pruning the hybrid bayes tree.
The discrete decision tree after pruning.
A function used during tree traversal that operates on each node before visiting the node's children.
- Parameters
-
node The current node being visited. parentData The data from the parent node.
- Returns
- HybridPrunerData which is passed to the children.
The documentation for this class was generated from the following files:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/hybrid/HybridBayesTree.h
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/hybrid/HybridBayesTree.cpp
