gtsam 4.1.1
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gtsam::ClusterTree< GRAPH > Class Template Reference

Detailed Description

template<class GRAPH>
class gtsam::ClusterTree< GRAPH >

A cluster-tree is associated with a factor graph and is defined as in Koller-Friedman: each node k represents a subset \( C_k \sub X \), and the tree is family preserving, in that each factor \( f_i \) is associated with a single cluster and \( scope(f_i) \sub C_k \).

+ Inheritance diagram for gtsam::ClusterTree< GRAPH >:

Standard Constructors

 ClusterTree (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

This & operator= (const This &other)
 Assignment operator - makes a deep copy of the tree structure, but only pointers to factors are copied, factors are not cloned.
 

Testable

void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 Print the cluster tree.
 

Advanced Interface

void addRoot (const boost::shared_ptr< Cluster > &cluster)
 
void addChildrenAsRoots (const boost::shared_ptr< Cluster > &cluster)
 
size_t nrRoots () const
 
const FastVector< sharedNode > & roots () const
 Return the set of roots (one for a tree, multiple for a forest)
 
const Cluster & operator[] (size_t i) const
 

Public Member Functions

 ClusterTree ()
 Default constructor.
 

Public Types

typedef GRAPH FactorGraphType
 The factor graph type.
 
typedef ClusterTree< GRAPH > This
 This class.
 
typedef boost::shared_ptr< This > shared_ptr
 Shared pointer to this class.
 
typedef GRAPH::FactorType FactorType
 The type of factors.
 
typedef boost::shared_ptr< FactorType > sharedFactor
 Shared pointer to a factor.
 
typedef boost::shared_ptr< Cluster > sharedCluster
 Shared pointer to Cluster.
 
typedef Cluster Node
 
typedef sharedCluster sharedNode
 

Classes

struct  Cluster
 A Cluster is just a collection of factors. More...
 

Protected Attributes

FastVector< sharedNode > roots_
 concept check
 
The documentation for this class was generated from the following files: