gtsam  4.1.0
gtsam
gtsam::BayesTree< CLIQUE > Class Template Reference

Testable

bool equals (const This &other, double tol=1e-9) const
 check equality
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 print
 

Advanced Interface

template<class BAYESRTEE , class GRAPH >
class EliminatableClusterTree
 
class boost::serialization::access
 Serialization function.
 
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 getCliqueData (sharedClique clique, BayesTreeCliqueData *stats) const
 Gather data on a single clique.
 
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.
 
template<class CONTAINER >
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.
 
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.
 

Public Member Functions

Standard Interface
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...
 

Public Types

typedef CLIQUE 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 CLIQUE::ConditionalType ConditionalType
 
typedef boost::shared_ptr< ConditionalType > sharedConditional
 
typedef CLIQUE::BayesNetType BayesNetType
 
typedef boost::shared_ptr< BayesNetType > sharedBayesNet
 
typedef CLIQUE::FactorType FactorType
 
typedef boost::shared_ptr< FactorType > sharedFactor
 
typedef CLIQUE::FactorGraphType FactorGraphType
 
typedef boost::shared_ptr< FactorGraphType > sharedFactorGraph
 
typedef FactorGraphType::Eliminate Eliminate
 
typedef CLIQUE::EliminationTraitsType EliminationTraitsType
 
typedef FastList< sharedCliqueCliques
 A convenience class for a list of shared cliques.
 
typedef ConcurrentMap< Key, sharedCliqueNodes
 Map from keys to Clique.
 
typedef FastVector< sharedCliqueRoots
 Root cliques.
 

Protected Types

typedef BayesTree< CLIQUE > This
 
typedef boost::shared_ptr< Thisshared_ptr
 

Protected Member Functions

Thisoperator= (const This &other)
 Assignment operator.
 
Standard Constructors
 BayesTree ()
 Create an empty Bayes Tree.
 
 BayesTree (const This &other)
 Copy constructor.
 

Protected Attributes

Nodes nodes_
 Map from indices to Clique.
 
Roots roots_
 Root cliques.
 

Member Function Documentation

◆ findParentClique()

template<class CLIQUE >
template<class CONTAINER >
Key gtsam::BayesTree< CLIQUE >::findParentClique ( const CONTAINER &  parents) const

Find parent clique of a conditional.

It will look at all parents and return the one with the lowest index in the ordering.

◆ insertRoot()

template<class CLIQUE >
void gtsam::BayesTree< CLIQUE >::insertRoot ( const sharedClique subtree)

Insert a new subtree with known parent clique.

This function does not check that the specified parent is the correct parent. This function updates all of the internal data structures associated with adding a subtree, such as populating the nodes index.

◆ marginalFactor()

template<class CLIQUE >
BayesTree< CLIQUE >::sharedConditional gtsam::BayesTree< CLIQUE >::marginalFactor ( Key  j,
const Eliminate &  function = EliminationTraitsType::DefaultEliminate 
) const

Return marginal on any variable.

Note that this actually returns a conditional, for which a solution may be directly obtained by calling .solve() on the returned object. Alternatively, it may be directly used as its factor base class. For example, for Gaussian systems, this returns a GaussianConditional, which inherits from JacobianFactor and GaussianFactor.

◆ removePath()

template<class CLIQUE >
void gtsam::BayesTree< CLIQUE >::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.

Used in removeTop below.

◆ removeTop()

template<class CLIQUE >
void gtsam::BayesTree< CLIQUE >::removeTop ( const KeyVector keys,
BayesNetType *  bn,
Cliques orphans 
)

Given a list of indices, turn "contaminated" part of the tree back into a factor graph.

Factors and orphans are added to the in/out arguments.

◆ saveGraph()

template<class CLIQUE >
void gtsam::BayesTree< CLIQUE >::saveGraph ( const std::string &  s,
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const

Read only with side effects.

saves the Tree to a text file in GraphViz format


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