Detailed Description

Specialized Clique structure for ISAM2, incorporating caching and gradient contribution TODO: more documentation.

Inheritance diagram for gtsam::ISAM2Clique:

Public Member Functions
	ISAM2Clique ()
	Default constructor.

	ISAM2Clique (const ISAM2Clique &other)
	Copy constructor, does not copy solution pointers as these are invalid in different trees. More...

ISAM2Clique &	operator= (const ISAM2Clique &other)
	Assignment operator, does not copy solution pointers as these are invalid in different trees. More...

void	setEliminationResult (const FactorGraphType::EliminationResult &eliminationResult)
	Overridden to also store the remaining factor and gradient contribution.

Base::FactorType::shared_ptr &	cachedFactor ()
	Access the cached factor.

const Vector &	gradientContribution () const
	Access the gradient contribution.

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

void	print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print this node

void	optimizeWildfire (const KeySet &replaced, double threshold, KeySet changed, VectorValues delta, size_t *count) const

bool	optimizeWildfireNode (const KeySet &replaced, double threshold, KeySet changed, VectorValues delta, size_t *count) const

void	nnz_internal (size_t *result) const
	Starting from the root, add up entries of frontal and conditional matrices of each conditional.

size_t	calculate_nnz () const

void	findAll (const KeySet &markedMask, KeySet *keys) const
	Recursively search this clique and its children for marked keys appearing in the separator, and add the frontal keys of any cliques whose separator contains any marked keys to the set `keys`. More...

Public Member Functions inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph >
void	setEliminationResult (const typename FactorGraphType::EliminationResult &eliminationResult)
	Fill the elimination result produced during elimination. More...

bool	equals (const ISAM2Clique &other, double tol=1e-9) const
	check equality

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

const sharedConditional &	conditional () const
	Access the conditional.

bool	isRoot () const
	is this the root of a Bayes tree ?

size_t	treeSize () const
	The size of subtree rooted at this clique, i.e., nr of Cliques.

size_t	numCachedSeparatorMarginals () const
	Collect number of cliques with cached separator marginals.

derived_ptr	parent () const
	return a shared_ptr to the parent clique

int	problemSize () const
	Problem size (used for parallel traversal)

BayesNetType	shortcut (const derived_ptr &root, Eliminate function=EliminationTraitsType::DefaultEliminate) const
	return the conditional P(S\|Root) on the separator given the root

FactorGraphType	separatorMarginal (Eliminate function=EliminationTraitsType::DefaultEliminate) const
	return the marginal P(S) on the separator

FactorGraphType	marginal2 (Eliminate function=EliminationTraitsType::DefaultEliminate) const
	return the marginal P(C) of the clique, using marginal caching

void	deleteCachedShortcuts ()
	This deletes the cached shortcuts of all cliques (subtree) below this clique. More...

const boost::optional< FactorGraphType > &	cachedSeparatorMarginal () const

Public Attributes
Base::FactorType::shared_ptr	cachedFactor_

Vector	gradientContribution_

Public Attributes inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph >
sharedConditional	conditional_

derived_weak_ptr	parent_

FastVector< derived_ptr >	children

int	problemSize_

Public Types
typedef ISAM2Clique	This

typedef BayesTreeCliqueBase< This, GaussianFactorGraph >	Base

typedef boost::shared_ptr< This >	shared_ptr

typedef boost::weak_ptr< This >	weak_ptr

typedef GaussianConditional	ConditionalType

typedef ConditionalType::shared_ptr	sharedConditional

Public Types inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph >
typedef GaussianFactorGraph	FactorGraphType

typedef EliminationTraitsType::BayesNetType	BayesNetType

typedef BayesNetType::ConditionalType	ConditionalType

typedef boost::shared_ptr< ConditionalType >	sharedConditional

typedef FactorGraphType::FactorType	FactorType

typedef FactorGraphType::Eliminate	Eliminate

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Protected Member Functions inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph >
	BayesTreeCliqueBase ()
	Default constructor.

	BayesTreeCliqueBase (const sharedConditional &conditional)
	Construct from a conditional, leaving parent and child pointers uninitialized.

KeyVector	separator_setminus_B (const derived_ptr &B) const
	Calculate set \( S \setminus B \) for shortcut calculations.

KeyVector	shortcut_indices (const derived_ptr &B, const FactorGraphType &p_Cp_B) const
	Determine variable indices to keep in recursive separator shortcut calculation The factor graph p_Cp_B has keys from the parent clique Cp and from B. More...

void	deleteCachedShortcutsNonRecursive ()
	Non-recursive delete cached shortcuts and marginals - internal only. More...

Protected Attributes inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph >
boost::optional< FactorGraphType >	cachedSeparatorMarginal_
	This stores the Cached separator margnal P(S)

Constructor & Destructor Documentation

◆ ISAM2Clique()

gtsam::ISAM2Clique::ISAM2Clique ( const ISAM2Clique & other )

inline

Copy constructor, does not copy solution pointers as these are invalid in different trees.

Member Function Documentation

◆ findAll()

void gtsam::ISAM2Clique::findAll	(	const KeySet &	markedMask,
		KeySet *	keys
	)		const

Recursively search this clique and its children for marked keys appearing in the separator, and add the frontal keys of any cliques whose separator contains any marked keys to the set keys.

The purpose of this is to discover the cliques that need to be redone due to information propagating to them from cliques that directly contain factors being relinearized.

The original comment says this finds all variables directly connected to the marked ones by measurements. Is this true, because it seems like this would also pull in variables indirectly connected through other frontal or separator variables?

Alternatively could we trace up towards the root for each variable here?

◆ operator=()

ISAM2Clique& gtsam::ISAM2Clique::operator= ( const ISAM2Clique & other )

inline

Assignment operator, does not copy solution pointers as these are invalid in different trees.

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

/Users/dellaert/git/gtsam/gtsam/nonlinear/ISAM2Clique.h
/Users/dellaert/git/gtsam/gtsam/nonlinear/ISAM2Clique.cpp

Detailed Description

Public Member Functions

Public Attributes

Public Types

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ISAM2Clique()

Member Function Documentation

◆ findAll()

◆ operator=()