gtsam::ISAM2Clique Class Reference
Detailed Description
Specialized Clique structure for ISAM2, incorporating caching and gradient contribution TODO: more documentation.
Inheritance diagram for gtsam::ISAM2Clique:
Public Member Functions | |
| ISAM2Clique () | |
| Default constructor. | |
| ISAM2Clique (const ISAM2Clique &other) | |
| Copy constructor, does not copy solution pointers as these are invalid in different trees. | |
| ISAM2Clique & | operator= (const ISAM2Clique &other) |
| Assignment operator, does not copy solution pointers as these are invalid in different trees. | |
| void | setEliminationResult (const FactorGraphType::EliminationResult &eliminationResult) |
| Overridden to also store the remaining factor and gradient contribution. | |
| Base::FactorType::shared_ptr & | cachedFactor () |
| Access the cached factor. | |
| const Vector & | gradientContribution () const |
| Access the gradient contribution. | |
| void | addGradientAtZero (VectorValues *g) const |
| Recursively add gradient at zero to g. | |
| bool | equals (const This &other, double tol=1e-9) const |
| void | print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
| print this node More... | |
| void | optimizeWildfire (const KeySet &replaced, double threshold, KeySet *changed, VectorValues *delta, size_t *count) const |
| bool | optimizeWildfireNode (const KeySet &replaced, double threshold, KeySet *changed, VectorValues *delta, size_t *count) const |
| void | nnz_internal (size_t *result) const |
| Starting from the root, add up entries of frontal and conditional matrices of each conditional. | |
| size_t | calculate_nnz () const |
| void | findAll (const KeySet &markedMask, KeySet *keys) const |
Recursively search this clique and its children for marked keys appearing in the separator, and add the frontal keys of any cliques whose separator contains any marked keys to the set keys. More... | |
| Public Member Functions inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph > | |
| void | setEliminationResult (const typename FactorGraphType::EliminationResult &eliminationResult) |
| Fill the elimination result produced during elimination. More... | |
| bool | equals (const ISAM2Clique &other, double tol=1e-9) const |
| check equality | |
| const sharedConditional & | conditional () const |
| Access the conditional. | |
| bool | isRoot () const |
| is this the root of a Bayes tree ? | |
| size_t | treeSize () const |
| The size of subtree rooted at this clique, i.e., nr of Cliques. | |
| size_t | numCachedSeparatorMarginals () const |
| Collect number of cliques with cached separator marginals. | |
| derived_ptr | parent () const |
| return a shared_ptr to the parent clique | |
| int | problemSize () const |
| Problem size (used for parallel traversal) | |
| BayesNetType | shortcut (const derived_ptr &root, Eliminate function=EliminationTraitsType::DefaultEliminate) const |
| return the conditional P(S|Root) on the separator given the root | |
| FactorGraphType | separatorMarginal (Eliminate function=EliminationTraitsType::DefaultEliminate) const |
| return the marginal P(S) on the separator | |
| FactorGraphType | marginal2 (Eliminate function=EliminationTraitsType::DefaultEliminate) const |
| return the marginal P(C) of the clique, using marginal caching | |
| void | deleteCachedShortcuts () |
| This deletes the cached shortcuts of all cliques (subtree) below this clique. More... | |
| const boost::optional< FactorGraphType > & | cachedSeparatorMarginal () const |
Public Attributes | |
| Base::FactorType::shared_ptr | cachedFactor_ |
| Vector | gradientContribution_ |
| Public Attributes inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph > | |
| sharedConditional | conditional_ |
| derived_weak_ptr | parent_ |
| FastVector< derived_ptr > | children |
| int | problemSize_ |
| bool | is_root |
Public Types | |
| typedef ISAM2Clique | This |
| typedef BayesTreeCliqueBase< This, GaussianFactorGraph > | Base |
| typedef boost::shared_ptr< This > | shared_ptr |
| typedef boost::weak_ptr< This > | weak_ptr |
| typedef GaussianConditional | ConditionalType |
| typedef ConditionalType::shared_ptr | sharedConditional |
| Public Types inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph > | |
| typedef GaussianFactorGraph | FactorGraphType |
| typedef EliminationTraitsType::BayesNetType | BayesNetType |
| typedef BayesNetType::ConditionalType | ConditionalType |
| typedef boost::shared_ptr< ConditionalType > | sharedConditional |
| typedef FactorGraphType::FactorType | FactorType |
| typedef FactorGraphType::Eliminate | Eliminate |
Friends | |
| class | boost::serialization::access |
| Serialization function. | |
Additional Inherited Members | |
| Protected Member Functions inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph > | |
| BayesTreeCliqueBase () | |
| Default constructor. | |
| BayesTreeCliqueBase (const sharedConditional &conditional) | |
| Construct from a conditional, leaving parent and child pointers uninitialized. | |
| BayesTreeCliqueBase (const BayesTreeCliqueBase &c) | |
| Shallow copy constructor. | |
| BayesTreeCliqueBase & | operator= (const BayesTreeCliqueBase &c) |
| Shallow copy assignment constructor. | |
| virtual | ~BayesTreeCliqueBase () |
| KeyVector | separator_setminus_B (const derived_ptr &B) const |
| Calculate set \( S \setminus B \) for shortcut calculations. | |
| KeyVector | shortcut_indices (const derived_ptr &B, const FactorGraphType &p_Cp_B) const |
| Determine variable indices to keep in recursive separator shortcut calculation The factor graph p_Cp_B has keys from the parent clique Cp and from B. More... | |
| void | deleteCachedShortcutsNonRecursive () |
| Non-recursive delete cached shortcuts and marginals - internal only. | |
| Protected Attributes inherited from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph > | |
| boost::optional< FactorGraphType > | cachedSeparatorMarginal_ |
| This stores the Cached separator marginal P(S) | |
| std::mutex | cachedSeparatorMarginalMutex_ |
| This protects Cached seperator marginal P(S) from concurrent read/writes as many the functions which access it are const (hence the mutable) leading to the false impression that these const functions are thread-safe which is not true due to these mutable values. More... | |
Member Function Documentation
◆ findAll()
Recursively search this clique and its children for marked keys appearing in the separator, and add the frontal keys of any cliques whose separator contains any marked keys to the set keys.
The purpose of this is to discover the cliques that need to be redone due to information propagating to them from cliques that directly contain factors being relinearized.
The original comment says this finds all variables directly connected to the marked ones by measurements. Is this true, because it seems like this would also pull in variables indirectly connected through other frontal or separator variables?
Alternatively could we trace up towards the root for each variable here?
◆ print()
|
overridevirtual |
print this node
Reimplemented from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph >.
The documentation for this class was generated from the following files:
- /Users/dellaert/git/github/gtsam/nonlinear/ISAM2Clique.h
- /Users/dellaert/git/github/gtsam/nonlinear/ISAM2Clique.cpp
