gtsam::SymbolicISAM Class Reference
Inheritance diagram for gtsam::SymbolicISAM:
Public Member Functions | |
Standard Constructors | |
| SymbolicISAM () | |
| Create an empty Bayes Tree. | |
| SymbolicISAM (const SymbolicBayesTree &bayesTree) | |
| Copy constructor. | |
| Public Member Functions inherited from gtsam::ISAM< SymbolicBayesTree > | |
| ISAM () | |
| Create an empty Bayes Tree. | |
| ISAM (const Base &bayesTree) | |
| Copy constructor. | |
| void | update (const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate) |
| update the Bayes tree with a set of new factors, typically derived from measurements More... | |
| void | update_internal (const FactorGraphType &newFactors, Cliques &orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate) |
| update_internal provides access to list of orphans for drawing purposes | |
| Public Member Functions inherited from gtsam::SymbolicBayesTree | |
| 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 ISAM< SymbolicBayesTree > | Base |
| typedef SymbolicISAM | This |
| typedef boost::shared_ptr< This > | shared_ptr |
| Public Types inherited from gtsam::ISAM< SymbolicBayesTree > | |
| typedef SymbolicBayesTree | Base |
| typedef Base::BayesNetType | BayesNetType |
| typedef Base::FactorGraphType | FactorGraphType |
| typedef Base::Clique | Clique |
| typedef Base::sharedClique | sharedClique |
| typedef Base::Cliques | Cliques |
| Public Types inherited from gtsam::SymbolicBayesTree | |
| 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. | |
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/SymbolicISAM.h
- /Users/dellaert/git/gtsam/gtsam/symbolic/SymbolicISAM.cpp
