gtsam 4.2
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gtsam::DiscreteBayesTree Class Reference
Discrete

Detailed Description

A Bayes tree representing a Discrete density.

Inheritance diagram for gtsam::DiscreteBayesTree:

Public Member Functions

Standard interface
 DiscreteBayesTree ()
 Default constructor, creates an empty Bayes tree.
bool equals (const This &other, double tol=1e-9) const
 Check equality.
double evaluate (const DiscreteValues &values) const
double operator() (const DiscreteValues &values) const
Wrapper support
std::string markdown (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DiscreteFactor::Names &names={}) const
 Render as markdown tables.
std::string html (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DiscreteFactor::Names &names={}) const
 Render as html tables.
Public Member Functions inherited from gtsam::BayesTree< DiscreteBayesTreeClique >
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.
sharedClique 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.
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 dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 Output to graphviz format, stream version.
std::string dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 Output to graphviz format string.
void saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 output to file with graphviz format.
Key findParentClique (const CONTAINER &parents) const
 Find parent clique of a conditional.
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.
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.
Cliques removeSubtree (const sharedClique &subtree)
 Remove the requested subtree.
void insertRoot (const sharedClique &subtree)
 Insert a new subtree with known parent clique.
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 DiscreteBayesTree This
typedef boost::shared_ptr< This > shared_ptr
Public Types inherited from gtsam::BayesTree< DiscreteBayesTreeClique >
typedef DiscreteBayesTreeClique 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 DiscreteBayesTreeClique::ConditionalType ConditionalType
typedef boost::shared_ptr< ConditionalType > sharedConditional
typedef DiscreteBayesTreeClique::BayesNetType BayesNetType
typedef boost::shared_ptr< BayesNetType > sharedBayesNet
typedef DiscreteBayesTreeClique::FactorType FactorType
typedef boost::shared_ptr< FactorType > sharedFactor
typedef DiscreteBayesTreeClique::FactorGraphType FactorGraphType
typedef boost::shared_ptr< FactorGraphType > sharedFactorGraph
typedef FactorGraphType::Eliminate Eliminate
typedef DiscreteBayesTreeClique::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.
typedef FastVector< sharedClique > Roots
 Root cliques.

Additional Inherited Members

Protected Types inherited from gtsam::BayesTree< DiscreteBayesTreeClique >
typedef BayesTree< DiscreteBayesTreeClique > This
typedef boost::shared_ptr< This > shared_ptr
Protected Member Functions inherited from gtsam::BayesTree< DiscreteBayesTreeClique >
This & operator= (const This &other)
 Assignment operator.
 BayesTree ()
 Create an empty Bayes Tree.
 BayesTree (const This &other)
 Copy constructor.
void dot (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.
bool equals (const This &other, double tol=1e-9) const
 check equality
Protected Attributes inherited from gtsam::BayesTree< DiscreteBayesTreeClique >
Nodes nodes_
 Map from indices to Clique.
Roots roots_
 Root cliques.
The documentation for this class was generated from the following files: