#include <BayesTree.h>
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typedef CLIQUE | Clique |
| | The clique type, normally BayesTreeClique.
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typedef std::shared_ptr< Clique > | sharedClique |
| | Shared pointer to a clique.
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typedef Clique | Node |
| | Synonym for Clique (TODO: remove)
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typedef sharedClique | sharedNode |
| | Synonym for sharedClique (TODO: remove)
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typedef CLIQUE::ConditionalType | ConditionalType |
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typedef std::shared_ptr< ConditionalType > | sharedConditional |
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typedef CLIQUE::BayesNetType | BayesNetType |
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typedef std::shared_ptr< BayesNetType > | sharedBayesNet |
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typedef CLIQUE::FactorType | FactorType |
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typedef std::shared_ptr< FactorType > | sharedFactor |
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typedef CLIQUE::FactorGraphType | FactorGraphType |
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typedef std::shared_ptr< FactorGraphType > | sharedFactorGraph |
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typedef FactorGraphType::Eliminate | Eliminate |
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typedef CLIQUE::EliminationTraitsType | EliminationTraitsType |
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| typedef FastList< sharedClique > | Cliques |
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| typedef ConcurrentMap< Key, sharedClique > | Nodes |
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| typedef FastVector< sharedClique > | Roots |
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typedef BayesTree< CLIQUE > | This |
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typedef std::shared_ptr< This > | shared_ptr |
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| bool | equals (const This &other, double tol=1e-9) const |
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| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
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void | dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| | Output to graphviz format, stream version.
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std::string | dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| | Output to graphviz format string.
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void | saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| | output to file with graphviz format.
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template<class BAYESTREE , class GRAPH > |
| class | EliminatableClusterTree |
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| void | dot (std::ostream &s, sharedClique clique, const KeyFormatter &keyFormatter, int parentnum=0) const |
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| void | getCliqueData (sharedClique clique, BayesTreeCliqueData *stats) const |
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| void | removeClique (sharedClique clique) |
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| void | fillNodesIndex (const sharedClique &subtree) |
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| template<class CONTAINER > |
| Key | findParentClique (const CONTAINER &parents) const |
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| void | clear () |
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| void | deleteCachedShortcuts () |
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| void | removePath (sharedClique clique, BayesNetType *bn, Cliques *orphans) |
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| void | removeTop (const KeyVector &keys, BayesNetType *bn, Cliques *orphans) |
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| Cliques | removeSubtree (const sharedClique &subtree) |
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| void | insertRoot (const sharedClique &subtree) |
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| void | addClique (const sharedClique &clique, const sharedClique &parent_clique=sharedClique()) |
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| void | addFactorsToGraph (FactorGraph< FactorType > *graph) const |
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template<class CLIQUE>
class gtsam::BayesTree< CLIQUE >
Bayes tree
- Template Parameters
-
| CONDITIONAL | The type of the conditional densities, i.e. the type of node in the underlying Bayes chain, which could be a ConditionalProbabilityTable, a GaussianConditional, or a SymbolicConditional. |
| CLIQUE | The type of the clique data structure, defaults to BayesTreeClique, normally do not change this as it is only used when developing special versions of BayesTree, e.g. for ISAM2. |
◆ Cliques
A convenience class for a list of shared cliques
◆ Nodes
◆ Roots
◆ BayesTree() [1/2]
Create an empty Bayes Tree
◆ BayesTree() [2/2]
◆ ~BayesTree()
Destructor
Destructor Using default destructor causes stack overflow for large trees due to recursive destruction of nodes; so we manually decrease the reference count of each node in the tree through a BFS, and the nodes with reference count 0 will be deleted. Please see PR-1441 for more details.
◆ addClique()
◆ addFactorsToGraph()
Add all cliques in this BayesTree to the specified factor graph
◆ clear()
◆ clique()
alternate syntax for matlab: find the clique that contains the variable with Key j
◆ deleteCachedShortcuts()
Clear all shortcut caches - use before timing on marginal calculation to avoid residual cache data
◆ dot()
private helper method for saving the Tree to a text file in GraphViz format
◆ empty()
Check if there are any cliques in the tree
◆ equals()
◆ fillNodesIndex()
Fill the nodes index for a subtree
◆ findParentClique()
template<class CLIQUE >
template<class CONTAINER >
Find parent clique of a conditional. It will look at all parents and return the one with the lowest index in the ordering.
◆ getCliqueData() [1/2]
Gather data on all cliques
◆ getCliqueData() [2/2]
Gather data on a single clique
◆ insertRoot()
Insert a new subtree with known parent clique. This function does not check that the specified parent is the correct parent. This function updates all of the internal data structures associated with adding a subtree, such as populating the nodes index.
◆ joint()
template<class CLIQUE >
| BayesTree< CLIQUE >::sharedFactorGraph gtsam::BayesTree< CLIQUE >::joint |
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Key |
j1, |
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Key |
j2, |
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const Eliminate & |
function = EliminationTraitsType::DefaultEliminate |
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return joint on two variables Limitation: can only calculate joint if cliques are disjoint or one of them is root
◆ jointBayesNet()
template<class CLIQUE >
| BayesTree< CLIQUE >::sharedBayesNet gtsam::BayesTree< CLIQUE >::jointBayesNet |
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Key |
j1, |
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Key |
j2, |
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const Eliminate & |
function = EliminationTraitsType::DefaultEliminate |
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return joint on two variables as a BayesNet Limitation: can only calculate joint if cliques are disjoint or one of them is root
◆ marginalFactor()
template<class CLIQUE >
| BayesTree< CLIQUE >::sharedConditional gtsam::BayesTree< CLIQUE >::marginalFactor |
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Key |
j, |
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const Eliminate & |
function = EliminationTraitsType::DefaultEliminate |
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Return marginal on any variable. Note that this actually returns a conditional, for which a solution may be directly obtained by calling .solve() on the returned object. Alternatively, it may be directly used as its factor base class. For example, for Gaussian systems, this returns a GaussianConditional, which inherits from JacobianFactor and GaussianFactor.
◆ nodes()
Return nodes. Each node is a clique of variables obtained after elimination.
◆ numCachedSeparatorMarginals()
Collect number of cliques with cached separator marginals
◆ operator=()
◆ operator[]()
◆ print()
◆ removeClique()
remove a clique: warning, can result in a forest
◆ removePath()
Remove path from clique to root and return that path as factors plus a list of orphaned subtree roots. Used in removeTop below.
◆ removeSubtree()
Remove the requested subtree.
◆ removeTop()
Given a list of indices, turn "contaminated" part of the tree back into a factor graph. Factors and orphans are added to the in/out arguments.
◆ roots()
◆ size()
◆ nodes_
Map from indices to Clique
◆ roots_
The documentation for this class was generated from the following files:
- /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/inference/BayesTree.h
- /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/inference/BayesTree-inst.h
