#include <BayesTreeCliqueBase.h>

Public Types
typedef FACTORGRAPH	FactorGraphType

typedef EliminationTraitsType::BayesNetType	BayesNetType

typedef BayesNetType::ConditionalType	ConditionalType

typedef std::shared_ptr< ConditionalType >	sharedConditional

typedef FactorGraphType::FactorType	FactorType

typedef FactorGraphType::Eliminate	Eliminate

Public Member Functions
void	setEliminationResult (const typename FactorGraphType::EliminationResult &eliminationResult)

Public Attributes
sharedConditional	conditional_

derived_weak_ptr	parent_

FastVector< derived_ptr >	children

int	problemSize_

bool	is_root = false

Protected Attributes
std::optional< FactorGraphType >	cachedSeparatorMarginal_
	This stores the Cached separator marginal P(S)

std::mutex	cachedSeparatorMarginalMutex_

Standard Constructors
	BayesTreeCliqueBase ()
	Default constructor.

	BayesTreeCliqueBase (const sharedConditional &conditional)

	BayesTreeCliqueBase (const BayesTreeCliqueBase &c)
	Shallow copy constructor.

BayesTreeCliqueBase &	operator= (const BayesTreeCliqueBase &c)
	Shallow copy assignment constructor.

virtual	~BayesTreeCliqueBase ()

Testable
bool	equals (const DERIVED &other, double tol=1e-9) const

virtual void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const

Standard Interface
const sharedConditional &	conditional () const

bool	isRoot () const

size_t	treeSize () const

size_t	numCachedSeparatorMarginals () const

derived_ptr	parent () const

int	problemSize () const

Advanced Interface
class	BayesTree< DerivedType >

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

void	deleteCachedShortcutsNonRecursive ()

BayesNetType	shortcut (const derived_ptr &root, Eliminate function=EliminationTraitsType::DefaultEliminate) const

FactorGraphType	separatorMarginal (Eliminate function=EliminationTraitsType::DefaultEliminate) const

FactorGraphType	marginal2 (Eliminate function=EliminationTraitsType::DefaultEliminate) const

void	deleteCachedShortcuts ()

const std::optional< FactorGraphType > &	cachedSeparatorMarginal () const

Detailed Description

template<class DERIVED, class FACTORGRAPH>
class gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >

This is the base class for BayesTree cliques. The default and standard derived type is BayesTreeClique, but some algorithms, like iSAM2, use a different clique type in order to store extra data along with the clique.

This class is templated on the derived class (i.e. the curiously recursive template pattern). The advantage of this over using virtual classes is that it avoids the need for casting to get the derived type. This is possible because all cliques in a BayesTree are the same type - if they were not then we'd need a virtual class.

Template Parameters

DERIVED	The derived clique type.
CONDITIONAL	The conditional type.

Constructor & Destructor Documentation

◆ BayesTreeCliqueBase()

template<class DERIVED, class FACTORGRAPH>

gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::BayesTreeCliqueBase ( const sharedConditional & conditional )

inlineprotected

Construct from a conditional, leaving parent and child pointers uninitialized.

Member Function Documentation

◆ conditional()

template<class DERIVED, class FACTORGRAPH>

const sharedConditional& gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::conditional ( ) const

inline

Access the conditional

◆ deleteCachedShortcuts()

template<class DERIVED , class FACTORGRAPH >

void gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::deleteCachedShortcuts ( )

This deletes the cached shortcuts of all cliques (subtree) below this clique. This is performed when the bayes tree is modified.

◆ deleteCachedShortcutsNonRecursive()

template<class DERIVED, class FACTORGRAPH>

void gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::deleteCachedShortcutsNonRecursive ( )

inlineprotected

Non-recursive delete cached shortcuts and marginals - internal only.

◆ equals()

template<class DERIVED, class FACTORGRAPH >

bool gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::equals	(	const DERIVED &	other,
		double	tol = `1e-9`
	)		const

check equality

◆ isRoot()

template<class DERIVED, class FACTORGRAPH>

bool gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::isRoot ( ) const

inline

is this the root of a Bayes tree ?

◆ marginal2()

template<class DERIVED , class FACTORGRAPH >

BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::FactorGraphType gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::marginal2 ( Eliminate function = EliminationTraitsType::DefaultEliminate ) const

return the marginal P(C) of the clique, using marginal caching

◆ numCachedSeparatorMarginals()

template<class DERIVED , class FACTORGRAPH >

size_t gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::numCachedSeparatorMarginals ( ) const

Collect number of cliques with cached separator marginals

◆ parent()

template<class DERIVED, class FACTORGRAPH>

derived_ptr gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::parent ( ) const

inline

return a shared_ptr to the parent clique

◆ print()

template<class DERIVED , class FACTORGRAPH >

void gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

virtual

print this node

Reimplemented in gtsam::ISAM2Clique.

◆ problemSize()

template<class DERIVED, class FACTORGRAPH>

int gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::problemSize ( ) const

inline

Problem size (used for parallel traversal)

◆ separatorMarginal()

template<class DERIVED , class FACTORGRAPH >

BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::FactorGraphType gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::separatorMarginal ( Eliminate function = EliminationTraitsType::DefaultEliminate ) const

return the marginal P(S) on the separator

◆ setEliminationResult()

template<class DERIVED , class FACTORGRAPH >

void gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::setEliminationResult ( const typename FactorGraphType::EliminationResult & eliminationResult )

Fill the elimination result produced during elimination. Here this just stores the conditional and ignores the remaining factor, but this is overridden in ISAM2Clique to also cache the remaining factor.

◆ shortcut()

template<class DERIVED , class FACTORGRAPH >

BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::BayesNetType gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::shortcut	(	const derived_ptr &	root,
		Eliminate	function = `EliminationTraitsType::DefaultEliminate`
	)		const

return the conditional P(S|Root) on the separator given the root

◆ shortcut_indices()

template<class DERIVED , class FACTORGRAPH >

KeyVector gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::shortcut_indices	(	const derived_ptr &	B,
		const FactorGraphType &	p_Cp_B
	)		const

protected

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. But we only keep the variables not in S union B.

◆ treeSize()

template<class DERIVED , class FACTORGRAPH >

size_t gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::treeSize ( ) const

The size of subtree rooted at this clique, i.e., nr of Cliques

Member Data Documentation

◆ cachedSeparatorMarginalMutex_

template<class DERIVED, class FACTORGRAPH>

std::mutex gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >::cachedSeparatorMarginalMutex_

mutableprotected

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. This is fixed by applying this mutex.

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/BayesTreeCliqueBase.h
/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/inference/BayesTreeCliqueBase-inst.h

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Standard Constructors

Testable

Standard Interface

Advanced Interface

Detailed Description

template<class DERIVED, class FACTORGRAPH> class gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >

Constructor & Destructor Documentation

◆ BayesTreeCliqueBase()

Member Function Documentation

◆ conditional()

◆ deleteCachedShortcuts()

◆ deleteCachedShortcutsNonRecursive()

◆ equals()

◆ isRoot()

◆ marginal2()

◆ numCachedSeparatorMarginals()

◆ parent()

◆ print()

◆ problemSize()

◆ separatorMarginal()

◆ setEliminationResult()

◆ shortcut()

◆ shortcut_indices()

◆ treeSize()

Member Data Documentation

◆ cachedSeparatorMarginalMutex_

template<class DERIVED, class FACTORGRAPH>
class gtsam::BayesTreeCliqueBase< DERIVED, FACTORGRAPH >