gtsam
4.0.0
gtsam
|
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 boost::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. | |
void | merge (const boost::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. | |
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< boost::shared_ptr< Cluster > > | Children |
typedef Ordering | Keys |