Inherited by gtsam::ISAM2BayesTree.

Testable
bool	equals (const This &other, double tol=1e-9) const
	check equality

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	print

Advanced Interface
template<class BAYESRTEE , class GRAPH >
class	EliminatableClusterTree

class	boost::serialization::access
	Serialization function.

void	saveGraph (std::ostream &s, sharedClique clique, const KeyFormatter &keyFormatter, int parentnum=0) const
	private helper method for saving the Tree to a text file in GraphViz format

void	getCliqueData (BayesTreeCliqueData &stats, sharedClique clique) 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.

template<class CONTAINER >
Key	findParentClique (const CONTAINER &parents) const
	Find parent clique of a conditional. More...

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. More...

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. More...

Cliques	removeSubtree (const sharedClique &subtree)
	Remove the requested subtree. More...

void	insertRoot (const sharedClique &subtree)
	Insert a new subtree with known parent clique. More...

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.

Public Member Functions
Standard Interface
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

const sharedNode	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. More...

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

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

void	saveGraph (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Read only with side effects. More...

Public Types
typedef CLIQUE	Clique
	The clique type, normally BayesTreeClique.

typedef boost::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 CLIQUE::ConditionalType	ConditionalType

typedef boost::shared_ptr< ConditionalType >	sharedConditional

typedef CLIQUE::BayesNetType	BayesNetType

typedef boost::shared_ptr< BayesNetType >	sharedBayesNet

typedef CLIQUE::FactorType	FactorType

typedef boost::shared_ptr< FactorType >	sharedFactor

typedef CLIQUE::FactorGraphType	FactorGraphType

typedef boost::shared_ptr< FactorGraphType >	sharedFactorGraph

typedef FactorGraphType::Eliminate	Eliminate

typedef CLIQUE::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.

Protected Types
typedef BayesTree< CLIQUE >	This

typedef boost::shared_ptr< This >	shared_ptr

typedef FastVector< sharedClique >	Roots
	Root cliques.

Protected Member Functions
This &	operator= (const This &other)
	Assignment operator.

Standard Constructors
	BayesTree ()
	Create an empty Bayes Tree.

	BayesTree (const This &other)
	Copy constructor.

Protected Attributes
Nodes	nodes_
	Map from indices to Clique.

Roots	roots_
	Root cliques.

Member Function Documentation

◆ findParentClique()

template<class CLIQUE >

template<class CONTAINER >

Key gtsam::BayesTree< CLIQUE >::findParentClique ( const CONTAINER & parents ) const

Find parent clique of a conditional.

It will look at all parents and return the one with the lowest index in the ordering.

◆ insertRoot()

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::insertRoot ( const sharedClique & subtree )

Insert a new subtree with known parent clique.

This function does not check that the specified parent is the correct parent. This function updates all of the internal data structures associated with adding a subtree, such as populating the nodes index.

◆ marginalFactor()

template<class CLIQUE >

BayesTree< CLIQUE >::sharedConditional gtsam::BayesTree< CLIQUE >::marginalFactor	(	Key	j,
		const Eliminate &	function = `EliminationTraitsType::DefaultEliminate`
	)		const

Return marginal on any variable.

Note that this actually returns a conditional, for which a solution may be directly obtained by calling .solve() on the returned object. Alternatively, it may be directly used as its factor base class. For example, for Gaussian systems, this returns a GaussianConditional, which inherits from JacobianFactor and GaussianFactor.

◆ removePath()

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::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.

Used in removeTop below.

◆ removeSubtree()

template<class CLIQUE >

BayesTree< CLIQUE >::Cliques gtsam::BayesTree< CLIQUE >::removeSubtree ( const sharedClique & subtree )

Remove the requested subtree.

◆ removeTop()

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::removeTop	(	const KeyVector &	keys,
		BayesNetType &	bn,
		Cliques &	orphans
	)

Given a list of indices, turn "contaminated" part of the tree back into a factor graph.

Factors and orphans are added to the in/out arguments.

◆ saveGraph()

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::saveGraph	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

Read only with side effects.

saves the Tree to a text file in GraphViz format

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

/Users/dellaert/git/gtsam/gtsam/inference/BayesTree.h
/Users/dellaert/git/gtsam/gtsam/inference/BayesTree-inst.h

Testable

Advanced Interface

Public Member Functions

Public Types

Protected Types

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ findParentClique()

◆ insertRoot()

◆ marginalFactor()

◆ removePath()

◆ removeSubtree()

◆ removeTop()

◆ saveGraph()