Detailed Description

A Bayes tree that represents the connectivity between variables but is not associated with any probability functions.

Inheritance diagram for gtsam::SymbolicBayesTree:

Public Member Functions
	SymbolicBayesTree ()
	Default constructor, creates an empty Bayes tree.

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

Public Member Functions inherited from gtsam::BayesTree< SymbolicBayesTreeClique >
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...

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.

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

Public Types
typedef SymbolicBayesTree	This

typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::BayesTree< SymbolicBayesTreeClique >
typedef SymbolicBayesTreeClique	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 SymbolicBayesTreeClique ::ConditionalType	ConditionalType

typedef boost::shared_ptr< ConditionalType >	sharedConditional

typedef SymbolicBayesTreeClique ::BayesNetType	BayesNetType

typedef boost::shared_ptr< BayesNetType >	sharedBayesNet

typedef SymbolicBayesTreeClique ::FactorType	FactorType

typedef boost::shared_ptr< FactorType >	sharedFactor

typedef SymbolicBayesTreeClique ::FactorGraphType	FactorGraphType

typedef boost::shared_ptr< FactorGraphType >	sharedFactorGraph

typedef FactorGraphType::Eliminate	Eliminate

typedef SymbolicBayesTreeClique ::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.

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

Additional Inherited Members
Protected Types inherited from gtsam::BayesTree< SymbolicBayesTreeClique >
typedef BayesTree< SymbolicBayesTreeClique >	This

typedef boost::shared_ptr< This >	shared_ptr

typedef FastVector< sharedClique >	Roots
	Root cliques.

Protected Member Functions inherited from gtsam::BayesTree< SymbolicBayesTreeClique >
This &	operator= (const This &other)
	Assignment operator.

	BayesTree ()
	Create an empty Bayes Tree.

	BayesTree (const This &other)
	Copy constructor.

void	getCliqueData (BayesTreeCliqueData &stats, sharedClique clique) const
	Gather data on a single clique.

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	removeClique (sharedClique clique)
	remove a clique: warning, can result in a forest

void	fillNodesIndex (const sharedClique &subtree)
	Fill the nodes index for a subtree.

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

Protected Attributes inherited from gtsam::BayesTree< SymbolicBayesTreeClique >
Nodes	nodes_
	Map from indices to Clique.

Roots	roots_
	Root cliques.

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

/Users/dellaert/git/gtsam/gtsam/symbolic/SymbolicBayesTree.h
/Users/dellaert/git/gtsam/gtsam/symbolic/SymbolicBayesTree.cpp

Detailed Description

Public Member Functions

Public Types

Friends

Additional Inherited Members