gtsam::BayesNet< CONDITIONAL > Class Template Reference
Detailed Description
template<class CONDITIONAL>
class gtsam::BayesNet< CONDITIONAL >
class gtsam::BayesNet< CONDITIONAL >
A BayesNet is a tree of conditionals, stored in elimination order.
todo: how to handle Bayes nets with an optimize function? Currently using global functions.
Inheritance diagram for gtsam::BayesNet< CONDITIONAL >:
Standard Constructors | |
| BayesNet () | |
| Default constructor as an empty BayesNet. | |
| template<typename ITERATOR > | |
| BayesNet (ITERATOR firstConditional, ITERATOR lastConditional) | |
| Construct from iterator over conditionals. | |
Testable | |
| void | print (const std::string &s="BayesNet", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
| print out graph More... | |
Standard Interface | |
| void | saveGraph (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
Public Types | |
| typedef boost::shared_ptr< CONDITIONAL > | sharedConditional |
| A shared pointer to a conditional. | |
| Public Types inherited from gtsam::FactorGraph< CONDITIONAL > | |
| typedef CONDITIONAL | FactorType |
| factor type | |
| typedef boost::shared_ptr< CONDITIONAL > | sharedFactor |
| Shared pointer to a factor. | |
| typedef sharedFactor | value_type |
| typedef FastVector< sharedFactor >::iterator | iterator |
| typedef FastVector< sharedFactor >::const_iterator | const_iterator |
Additional Inherited Members | |
| Public Member Functions inherited from gtsam::FactorGraph< CONDITIONAL > | |
| virtual | ~FactorGraph ()=default |
| Default destructor. | |
| void | reserve (size_t size) |
| Reserve space for the specified number of factors if you know in advance how many there will be (works like FastVector::reserve). | |
| IsDerived< DERIVEDFACTOR > | push_back (boost::shared_ptr< DERIVEDFACTOR > factor) |
| Add a factor directly using a shared_ptr. | |
| IsDerived< DERIVEDFACTOR > | push_back (const DERIVEDFACTOR &factor) |
| Add a factor by value, will be copy-constructed (use push_back with a shared_ptr to avoid the copy). | |
| IsDerived< DERIVEDFACTOR > | emplace_shared (Args &&... args) |
| Emplace a shared pointer to factor of given type. | |
| IsDerived< DERIVEDFACTOR > | add (boost::shared_ptr< DERIVEDFACTOR > factor) |
add is a synonym for push_back. | |
| std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, boost::assign::list_inserter< RefCallPushBack< This > > >::type | operator+= (boost::shared_ptr< DERIVEDFACTOR > factor) |
+= works well with boost::assign list inserter. | |
| HasDerivedElementType< ITERATOR > | push_back (ITERATOR firstFactor, ITERATOR lastFactor) |
| Push back many factors with an iterator over shared_ptr (factors are not copied) | |
| HasDerivedValueType< ITERATOR > | push_back (ITERATOR firstFactor, ITERATOR lastFactor) |
| Push back many factors with an iterator (factors are copied) | |
| HasDerivedElementType< CONTAINER > | push_back (const CONTAINER &container) |
| Push back many factors as shared_ptr's in a container (factors are not copied) | |
| HasDerivedValueType< CONTAINER > | push_back (const CONTAINER &container) |
| Push back non-pointer objects in a container (factors are copied). | |
| void | add (const FACTOR_OR_CONTAINER &factorOrContainer) |
| Add a factor or container of factors, including STL collections, BayesTrees, etc. | |
| boost::assign::list_inserter< CRefCallPushBack< This > > | operator+= (const FACTOR_OR_CONTAINER &factorOrContainer) |
| Add a factor or container of factors, including STL collections, BayesTrees, etc. | |
| std::enable_if< std::is_base_of< This, typenameCLIQUE::FactorGraphType >::value >::type | push_back (const BayesTree< CLIQUE > &bayesTree) |
| Push back a BayesTree as a collection of factors. More... | |
| FactorIndices | add_factors (const CONTAINER &factors, bool useEmptySlots=false) |
| Add new factors to a factor graph and returns a list of new factor indices, optionally finding and reusing empty factor slots. | |
| bool | equals (const This &fg, double tol=1e-9) const |
| Check equality. | |
| size_t | size () const |
| return the number of factors (including any null factors set by remove() ). | |
| bool | empty () const |
| Check if the graph is empty (null factors set by remove() will cause this to return false). | |
| const sharedFactor | at (size_t i) const |
| Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not). | |
| sharedFactor & | at (size_t i) |
| Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not). | |
| const sharedFactor | operator[] (size_t i) const |
| Get a specific factor by index (this does not check array bounds, as opposed to at() which does). | |
| sharedFactor & | operator[] (size_t i) |
| Get a specific factor by index (this does not check array bounds, as opposed to at() which does). | |
| const_iterator | begin () const |
| Iterator to beginning of factors. | |
| const_iterator | end () const |
| Iterator to end of factors. | |
| sharedFactor | front () const |
| Get the first factor. | |
| sharedFactor | back () const |
| Get the last factor. | |
| iterator | begin () |
| non-const STL-style begin() | |
| iterator | end () |
| non-const STL-style end() | |
| void | resize (size_t size) |
| Directly resize the number of factors in the graph. More... | |
| void | remove (size_t i) |
| delete factor without re-arranging indexes by inserting a nullptr pointer | |
| void | replace (size_t index, sharedFactor factor) |
| replace a factor by index | |
| iterator | erase (iterator item) |
| Erase factor and rearrange other factors to take up the empty space. | |
| iterator | erase (iterator first, iterator last) |
| Erase factors and rearrange other factors to take up the empty space. | |
| size_t | nrFactors () const |
| return the number of non-null factors | |
| KeySet | keys () const |
| Potentially slow function to return all keys involved, sorted, as a set. | |
| KeyVector | keyVector () const |
| Potentially slow function to return all keys involved, sorted, as a vector. | |
| bool | exists (size_t idx) const |
| MATLAB interface utility: Checks whether a factor index idx exists in the graph and is a live pointer. | |
| Protected Member Functions inherited from gtsam::FactorGraph< CONDITIONAL > | |
| FactorGraph () | |
| Default constructor. | |
| FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor) | |
| Constructor from iterator over factors (shared_ptr or plain objects) | |
| FactorGraph (const CONTAINER &factors) | |
| Construct from container of factors (shared_ptr or plain objects) | |
| Protected Attributes inherited from gtsam::FactorGraph< CONDITIONAL > | |
| FastVector< sharedFactor > | factors_ |
| concept check, makes sure FACTOR defines print and equals More... | |
Member Function Documentation
◆ print()
template<class CONDITIONAL >
|
overridevirtual |
print out graph
Reimplemented from gtsam::FactorGraph< CONDITIONAL >.
The documentation for this class was generated from the following files:
- /Users/dellaert/git/github/gtsam/inference/BayesNet.h
- /Users/dellaert/git/github/gtsam/inference/BayesNet-inst.h
