gtsam::GaussianISAM Class Reference

Inheritance diagram for gtsam::GaussianISAM:

Public Member Functions
Standard Constructors
	GaussianISAM ()
	Create an empty Bayes Tree.
	GaussianISAM (const GaussianBayesTree &bayesTree)
	Copy constructor.
Public Member Functions inherited from gtsam::ISAM< GaussianBayesTree >
	ISAM ()
	Create an empty Bayes Tree.
	ISAM (const Base &bayesTree)
	Copy constructor.
void	update (const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
	update the Bayes tree with a set of new factors, typically derived from measurements
void	updateInternal (const FactorGraphType &newFactors, Cliques *orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate)
	updateInternal provides access to list of orphans for drawing purposes
Public Member Functions inherited from gtsam::GaussianBayesTree
	GaussianBayesTree ()
	Default constructor, creates an empty Bayes tree.
bool	equals (const This &other, double tol=1e-9) const
	Check equality.
VectorValues	optimize () const
	Recursively optimize the BayesTree to produce a vector solution.
VectorValues	optimizeGradientSearch () const
	Optimize along the gradient direction, with a closed-form computation to perform the line search.
VectorValues	gradient (const VectorValues &x0) const
	Compute the gradient of the energy function, \( \nabla_{x=x_0} \left\Vert \Sigma^{-1} R x - d \right\Vert^2 \), centered around \( x = x_0 \).
VectorValues	gradientAtZero () const
	Compute the gradient of the energy function, \( \nabla_{x=0} \left\Vert \Sigma^{-1} R x - d \right\Vert^2 \), centered around zero.
double	error (const VectorValues &x) const
	0.5 * sum of squared Mahalanobis distances.
double	determinant () const
	Computes the determinant of a GassianBayesTree, as if the Bayes tree is reorganized into a matrix.
double	logDeterminant () const
	Computes the determinant of a GassianBayesTree, as if the Bayes tree is reorganized into a matrix.
Matrix	marginalCovariance (Key key) const
	Return the marginal on the requested variable as a covariance matrix.
Public Member Functions inherited from gtsam::BayesTree< GaussianBayesTreeClique >
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 ISAM< GaussianBayesTree >	Base
typedef GaussianISAM	This
typedef boost::shared_ptr< This >	shared_ptr
Public Types inherited from gtsam::ISAM< GaussianBayesTree >
typedef GaussianBayesTree	Base
typedef Base::BayesNetType	BayesNetType
typedef Base::FactorGraphType	FactorGraphType
typedef Base::Clique	Clique
typedef Base::sharedClique	sharedClique
typedef Base::Cliques	Cliques
Public Types inherited from gtsam::GaussianBayesTree
typedef GaussianBayesTree	This
typedef boost::shared_ptr< This >	shared_ptr
Public Types inherited from gtsam::BayesTree< GaussianBayesTreeClique >
typedef GaussianBayesTreeClique	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 GaussianBayesTreeClique::ConditionalType	ConditionalType
typedef boost::shared_ptr< ConditionalType >	sharedConditional
typedef GaussianBayesTreeClique::BayesNetType	BayesNetType
typedef boost::shared_ptr< BayesNetType >	sharedBayesNet
typedef GaussianBayesTreeClique::FactorType	FactorType
typedef boost::shared_ptr< FactorType >	sharedFactor
typedef GaussianBayesTreeClique::FactorGraphType	FactorGraphType
typedef boost::shared_ptr< FactorGraphType >	sharedFactorGraph
typedef FactorGraphType::Eliminate	Eliminate
typedef GaussianBayesTreeClique::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< GaussianBayesTreeClique >
typedef BayesTree< GaussianBayesTreeClique >	This
typedef boost::shared_ptr< This >	shared_ptr
Protected Member Functions inherited from gtsam::BayesTree< GaussianBayesTreeClique >
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< GaussianBayesTreeClique >
Nodes	nodes_
	Map from indices to Clique.
Roots	roots_
	Root cliques.

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

• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/linear/GaussianISAM.h
• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/linear/GaussianISAM.cpp