Detailed Description

A symbolic junction tree whose factors record the original factor indices from a corresponding (non-symbolic) factor graph.

This allows the junction tree structure to be cached and reused for repeated eliminations when the factor graph structure and ordering remain unchanged, avoiding the cost of rebuilding the symbolic structure.

The underlying implementation uses a SymbolicJunctionTree where each factor is an IndexedSymbolicFactor that stores the original factor index. During elimination, these indices are used to retrieve the actual numerical factors from the original factor graph.

Inheritance diagram for gtsam::IndexedJunctionTree:

Public Member Functions
template<typename GRAPH>
	IndexedJunctionTree (const GRAPH &graph, const Ordering &ordering, const std::unordered_set< Key > &fixedKeys={})
	Construct an IndexedJunctionTree from any factor graph, ordering, and optional set of fixed keys to filter out.
	SymbolicJunctionTree (const SymbolicEliminationTree &eliminationTree)
	Build the elimination tree of a factor graph using pre-computed column structure.
Public Member Functions inherited from gtsam::SymbolicJunctionTree
	SymbolicJunctionTree (const SymbolicEliminationTree &eliminationTree)
	Build the elimination tree of a factor graph using pre-computed column structure.
Public Member Functions inherited from gtsam::EliminatableClusterTree< BAYESTREE, GRAPH >
std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > >	eliminate (const Eliminate &function) const
	Eliminate the factors to a Bayes tree and remaining factor graph.
const FastVector< sharedFactor > &	remainingFactors () const
	Return the remaining factors that are not pulled into elimination.
Public Member Functions inherited from gtsam::ClusterTree< GRAPH >
	ClusterTree ()
	Default constructor.
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Print the cluster tree.
void	addRoot (const std::shared_ptr< Cluster > &cluster)
void	addChildrenAsRoots (const std::shared_ptr< Cluster > &cluster)
size_t	nrRoots () const
const FastVector< sharedNode > &	roots () const
	Return the set of roots (one for a tree, multiple for a forest).
const Cluster &	operator[] (size_t i) const

Additional Inherited Members
Public Types inherited from gtsam::SymbolicJunctionTree
typedef JunctionTree< SymbolicBayesTree, SymbolicFactorGraph >	Base
	Base class.
typedef SymbolicJunctionTree	This
	This class.
typedef std::shared_ptr< This >	shared_ptr
	Shared pointer to this class.
Public Types inherited from gtsam::JunctionTree< SymbolicBayesTree, SymbolicFactorGraph >
typedef JunctionTree< SymbolicBayesTree, SymbolicFactorGraph >	This
	This class.
typedef std::shared_ptr< This >	shared_ptr
	Shared pointer to this class.
typedef EliminatableClusterTree< SymbolicBayesTree, SymbolicFactorGraph >	Base
	Our base class.
Public Types inherited from gtsam::EliminatableClusterTree< BAYESTREE, GRAPH >
typedef BAYESTREE	BayesTreeType
	The BayesTree type produced by elimination.
typedef GRAPH	FactorGraphType
	The factor graph type.
typedef EliminatableClusterTree< BAYESTREE, GRAPH >	This
	This class.
typedef std::shared_ptr< This >	shared_ptr
	Shared pointer to this class.
typedef BAYESTREE::ConditionalType	ConditionalType
	The type of conditionals.
typedef std::shared_ptr< ConditionalType >	sharedConditional
	Shared pointer to a conditional.
typedef GRAPH::Eliminate	Eliminate
	Typedef for an eliminate subroutine.
typedef GRAPH::FactorType	FactorType
	The type of factors.
typedef std::shared_ptr< FactorType >	sharedFactor
	Shared pointer to a factor.
Public Types inherited from gtsam::ClusterTree< GRAPH >
typedef GRAPH	FactorGraphType
	The factor graph type.
typedef ClusterTree< GRAPH >	This
	This class.
typedef std::shared_ptr< This >	shared_ptr
	Shared pointer to this class.
typedef GRAPH::FactorType	FactorType
	The type of factors.
typedef std::shared_ptr< FactorType >	sharedFactor
	Shared pointer to a factor.
typedef std::shared_ptr< Cluster >	sharedCluster
	Shared pointer to Cluster.
typedef Cluster	Node
typedef sharedCluster	sharedNode
	JunctionTree (const EliminationTree< ETREE_BAYESNET, ETREE_GRAPH > &eliminationTree)
	Build the junction tree from an elimination tree.
Protected Member Functions inherited from gtsam::EliminatableClusterTree< BAYESTREE, GRAPH >
	EliminatableClusterTree (const This &other)
	Copy constructor - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned.
This &	operator= (const This &other)
	Assignment operator - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned.
	EliminatableClusterTree ()
	Default constructor to be used in derived classes.
	ClusterTree (const This &other)
	Copy constructor - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned.
This &	operator= (const This &other)
	Assignment operator - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned.
static This	FromEliminationTree (const ETREE &eliminationTree)
	Build the junction tree from an elimination tree.
Protected Attributes inherited from gtsam::EliminatableClusterTree< BAYESTREE, GRAPH >
FastVector< sharedFactor >	remainingFactors_
Protected Attributes inherited from gtsam::ClusterTree< GRAPH >
FastVector< sharedNode >	roots_
	concept check

Constructor & Destructor Documentation

◆ IndexedJunctionTree()

template<typename GRAPH>

gtsam::IndexedJunctionTree::IndexedJunctionTree	(	const GRAPH &	graph,
		const Ordering &	ordering,
		const std::unordered_set< Key > &	fixedKeys = {} )

inline

Construct an IndexedJunctionTree from any factor graph, ordering, and optional set of fixed keys to filter out.

Template Parameters

GRAPH Factor graph type (e.g. GaussianFactorGraph, NonlinearFactorGraph)

Parameters

graph	The input factor graph
ordering	The elimination ordering
fixedKeys	Keys to filter out (e.g., from hard constraints)

Member Function Documentation

◆ SymbolicJunctionTree()

gtsam::SymbolicJunctionTree::SymbolicJunctionTree ( const SymbolicEliminationTree & eliminationTree )

Build the elimination tree of a factor graph using pre-computed column structure.

Parameters

factorGraph	The factor graph for which to build the elimination tree
structure	The set of factors involving each variable. If this is not precomputed, you can call the Create(const FactorGraph<DERIVEDFACTOR>&) named constructor instead.

Returns: The elimination tree

The documentation for this class was generated from the following file:

/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/symbolic/IndexedJunctionTree.h

Detailed Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ IndexedJunctionTree()

Member Function Documentation

◆ SymbolicJunctionTree()