gtsam  4.1.0
gtsam
gtsam::EliminatableClusterTree< BAYESTREE, GRAPH > Class Template Reference

Detailed Description

template<class BAYESTREE, class GRAPH>
class gtsam::EliminatableClusterTree< BAYESTREE, GRAPH >

A cluster-tree that eliminates to a Bayes tree.

+ Inheritance diagram for gtsam::EliminatableClusterTree< BAYESTREE, GRAPH >:

Public Member Functions

Standard Interface
std::pair< boost::shared_ptr< BayesTreeType >, boost::shared_ptr< FactorGraphType > > eliminate (const Eliminate &function) const
 Eliminate the factors to a Bayes tree and remaining factor graph. More...
 
Advanced Interface
const FastVector< sharedFactor > & remainingFactors () const
 Return the remaining factors that are not pulled into elimination.
 

Public Types

typedef BAYESTREE BayesTreeType
 The BayesTree type produced by elimination.
 
typedef GRAPH FactorGraphType
 The factor graph type.
 
typedef EliminatableClusterTree< BAYESTREE, GRAPH > This
 This class.
 
typedef boost::shared_ptr< Thisshared_ptr
 Shared pointer to this class.
 
typedef BAYESTREE::ConditionalType ConditionalType
 The type of conditionals.
 
typedef boost::shared_ptr< ConditionalTypesharedConditional
 Shared pointer to a conditional.
 
typedef GRAPH::Eliminate Eliminate
 Typedef for an eliminate subroutine.
 
typedef GRAPH::FactorType FactorType
 The type of factors.
 
typedef boost::shared_ptr< FactorTypesharedFactor
 Shared pointer to a factor.
 

Protected Member Functions

Standard Constructors
 EliminatableClusterTree (const This &other)
 Copy constructor - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned.
 
Details
Thisoperator= (const This &other)
 Assignment operator - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned.
 
 EliminatableClusterTree ()
 Default constructor to be used in derived classes.
 

Protected Attributes

FastVector< sharedFactorremainingFactors_
 

Member Function Documentation

◆ eliminate()

template<class BAYESTREE , class GRAPH >
std::pair< boost::shared_ptr< BAYESTREE >, boost::shared_ptr< GRAPH > > gtsam::EliminatableClusterTree< BAYESTREE, GRAPH >::eliminate ( const Eliminate function) const

Eliminate the factors to a Bayes tree and remaining factor graph.

Parameters
functionThe function to use to eliminate, see the namespace functions in GaussianFactorGraph.h
Returns
The Bayes tree and factor graph resulting from elimination

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