gtsam 4.2
gtsam
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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: