gtsam  4.0.0 gtsam
gtsam::GaussianISAM Class Reference
Inheritance diagram for gtsam::GaussianISAM:

## Public Member Functions

Standard Constructors
GaussianISAM ()
Create an empty Bayes Tree.

GaussianISAM (const GaussianBayesTree &bayesTree)
Copy constructor.

Public Member Functions inherited from gtsam::ISAM< GaussianBayesTree >
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)

Public Member Functions inherited from gtsam::GaussianBayesTree
GaussianBayesTree ()
Default constructor, creates an empty Bayes tree.

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

VectorValues optimize () const
Recursively optimize the BayesTree to produce a vector solution. More...

Optimize along the gradient direction, with a closed-form computation to perform the line search. More...

VectorValues gradient (const VectorValues &x0) const
Compute the gradient of the energy function, $$\nabla_{x=x_0} \left\Vert \Sigma^{-1} R x - d \right\Vert^2$$, centered around $$x = x_0$$. More...

Compute the gradient of the energy function, $$\nabla_{x=0} \left\Vert \Sigma^{-1} R x - d \right\Vert^2$$, centered around zero. More...

double error (const VectorValues &x) const
Mahalanobis norm error. More...

double determinant () const
Computes the determinant of a GassianBayesTree, as if the Bayes tree is reorganized into a matrix. More...

double logDeterminant () const
Computes the determinant of a GassianBayesTree, as if the Bayes tree is reorganized into a matrix. More...

Matrix marginalCovariance (Key key) const
Return the marginal on the requested variable as a covariance matrix. More...

Public Member Functions inherited from gtsam::BayesTree< GaussianBayesTreeClique >
size_t size () const
number of cliques

bool empty () const
Check if there are any cliques in the tree.

const Nodesnodes () const
return nodes

const sharedNode operator[] (Key j) const
Access node by variable.

const Rootsroots () const
return root cliques

const sharedCliqueclique (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())

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< GaussianBayesTreeBase

typedef GaussianISAM This

typedef boost::shared_ptr< Thisshared_ptr

Public Types inherited from gtsam::ISAM< GaussianBayesTree >
typedef GaussianBayesTree 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::GaussianBayesTree
typedef GaussianBayesTree This

typedef boost::shared_ptr< Thisshared_ptr

Public Types inherited from gtsam::BayesTree< GaussianBayesTreeClique >
typedef GaussianBayesTreeClique Clique
The clique type, normally BayesTreeClique.

typedef boost::shared_ptr< CliquesharedClique
Shared pointer to a clique.

typedef Clique Node
Synonym for Clique (TODO: remove)

typedef sharedClique sharedNode
Synonym for sharedClique (TODO: remove)

typedef GaussianBayesTreeClique ::ConditionalType ConditionalType

typedef boost::shared_ptr< ConditionalType > sharedConditional

typedef GaussianBayesTreeClique ::BayesNetType BayesNetType

typedef boost::shared_ptr< BayesNetType > sharedBayesNet

typedef GaussianBayesTreeClique ::FactorType FactorType

typedef boost::shared_ptr< FactorType > sharedFactor

typedef GaussianBayesTreeClique ::FactorGraphType FactorGraphType

typedef boost::shared_ptr< FactorGraphType > sharedFactorGraph

typedef FactorGraphType::Eliminate Eliminate

typedef GaussianBayesTreeClique ::EliminationTraitsType EliminationTraitsType

typedef FastList< sharedCliqueCliques
A convenience class for a list of shared cliques.

typedef ConcurrentMap< Key, sharedCliqueNodes
Map from keys to Clique.

Protected Types inherited from gtsam::BayesTree< GaussianBayesTreeClique >
typedef BayesTree< GaussianBayesTreeCliqueThis

typedef boost::shared_ptr< Thisshared_ptr

typedef FastVector< sharedCliqueRoots
Root cliques.

Protected Member Functions inherited from gtsam::BayesTree< GaussianBayesTreeClique >
Thisoperator= (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< GaussianBayesTreeClique >
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/linear/GaussianISAM.h
• /Users/dellaert/git/gtsam/gtsam/linear/GaussianISAM.cpp