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gtsam::ClusterTree< GRAPH >::Cluster Struct Reference

Detailed Description

template<class GRAPH>
struct gtsam::ClusterTree< GRAPH >::Cluster

A Cluster is just a collection of factors.

Public Member Functions

const Cluster & operator[] (size_t i) const
template<class CONTAINER>
 Cluster (Key key, const CONTAINER &factorsToAdd)
 Construct from factors associated with a single key.
template<class CONTAINER>
void addFactors (Key key, const CONTAINER &factorsToAdd)
 Add factors associated with a single key.
void addChild (const std::shared_ptr< Cluster > &cluster)
 Add a child cluster.
size_t nrChildren () const
size_t nrFactors () const
size_t nrFrontals () const
int problemSize () const
virtual void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 print this node
std::vector< size_t > nrFrontalsOfChildren () const
 Return a vector with nrFrontal keys for each child.
KeySet separatorKeys (KeySetMap *cache=nullptr) const
 Return the separator keys (subtree keys minus frontals), optionally cached.
void merge (const std::shared_ptr< Cluster > &cluster)
 Merge in given cluster.
void mergeChildren (const std::vector< bool > &merge)
 Merge all children for which bit is set into this node.
void mergeChildrenSiblings (const std::vector< bool > &merge)
 Merge selected siblings into a new child cluster.
void mergeChildren (const Children &selected)
 Merge selected children (provided as pointers) into this node.
void mergeChildrenSiblings (const Children &selected)
 Merge selected siblings (provided as pointers) into a new child.
Children childrenFromMask (const std::vector< bool > &merge) const
 Convert a child-selection mask into the selected child pointers.

Public Attributes

Children children
 sub-trees
Keys orderedFrontalKeys
 Frontal keys of this node.
FactorGraphType factors
 Factors associated with this node.
int problemSize_

Public Types

typedef FastVector< std::shared_ptr< Cluster > > Children
typedef Ordering Keys
using KeySetMap = FastMap<const Cluster*, KeySet>
The documentation for this struct was generated from the following files: