#include <GaussianJunctionTree.h>

Inheritance diagram for gtsam::GaussianJunctionTree:

Collaboration diagram for gtsam::GaussianJunctionTree:

Public Types
typedef JunctionTree< GaussianBayesTree, GaussianFactorGraph >	Base
	Base class.

typedef GaussianJunctionTree	This
	This class.

typedef std::shared_ptr< This >	shared_ptr
	Shared pointer to this class.

typedef GaussianBayesTree	BayesTreeType
	The BayesTree type produced by elimination.

typedef GaussianFactorGraph	FactorGraphType
	The factor graph type.

typedef GaussianBayesTree ::ConditionalType	ConditionalType
	The type of conditionals.

typedef std::shared_ptr< ConditionalType >	sharedConditional
	Shared pointer to a conditional.

typedef GaussianFactorGraph ::Eliminate	Eliminate
	Typedef for an eliminate subroutine.

typedef GaussianFactorGraph ::FactorType	FactorType
	The type of factors.

typedef std::shared_ptr< FactorType >	sharedFactor
	Shared pointer to a factor.

typedef std::shared_ptr< Cluster >	sharedCluster
	Shared pointer to Cluster.

typedef Cluster	Node

typedef sharedCluster	sharedNode

Public Member Functions
	GaussianJunctionTree (const GaussianEliminationTree &eliminationTree)

Protected Attributes
FastVector< sharedFactor >	remainingFactors_

FastVector< sharedNode >	roots_

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

Advanced Interface
void	addRoot (const std::shared_ptr< Cluster > &cluster)

void	addChildrenAsRoots (const std::shared_ptr< Cluster > &cluster)

size_t	nrRoots () const

const FastVector< sharedNode > &	roots () const

const Cluster &	operator[] (size_t i) const

Standard Interface
std::pair< std::shared_ptr< BayesTreeType >, std::shared_ptr< FactorGraphType > >	eliminate (const Eliminate &function) const

Advanced Interface
const FastVector< sharedFactor > &	remainingFactors () const

Standard Constructors
static This	FromEliminationTree (const ETREE &eliminationTree)

Detailed Description

A junction tree specialized to Gaussian factors, i.e., it is a cluster tree with Gaussian factors stored in each cluster. It can be eliminated into a Gaussian Bayes tree with the same structure, which is essentially doing multifrontal sparse matrix factorization.

Constructor & Destructor Documentation

◆ GaussianJunctionTree()

gtsam::GaussianJunctionTree::GaussianJunctionTree ( const GaussianEliminationTree & eliminationTree )

Build the elimination tree of a factor graph using pre-computed column structure.

Parameters

factorGraph	The factor graph for which to build the elimination tree
structure	The set of factors involving each variable. If this is not precomputed, you can call the Create(const FactorGraph<DERIVEDFACTOR>&) named constructor instead.

Returns: The elimination tree

Member Function Documentation

◆ eliminate()

std::pair< std::shared_ptr< GaussianBayesTree >, std::shared_ptr< GaussianFactorGraph > > gtsam::EliminatableClusterTree< GaussianBayesTree , GaussianFactorGraph >::eliminate ( const Eliminate & function ) const

inherited

Eliminate the factors to a Bayes tree and remaining factor graph

Parameters

function The function to use to eliminate, see the namespace functions in GaussianFactorGraph.h

Returns: The Bayes tree and factor graph resulting from elimination

◆ FromEliminationTree()

static This gtsam::JunctionTree< GaussianBayesTree , GaussianFactorGraph >::FromEliminationTree ( const ETREE & eliminationTree )

inlinestaticprotectedinherited

Build the junction tree from an elimination tree.

◆ print()

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

inherited

Print the cluster tree

◆ remainingFactors()

const FastVector<sharedFactor>& gtsam::EliminatableClusterTree< GaussianBayesTree , GaussianFactorGraph >::remainingFactors ( ) const

inlineinherited

Return the remaining factors that are not pulled into elimination

◆ roots()

const FastVector<sharedNode>& gtsam::ClusterTree< GaussianFactorGraph >::roots ( ) const

inlineinherited

Return the set of roots (one for a tree, multiple for a forest)

Member Data Documentation

◆ roots_

FastVector<sharedNode> gtsam::ClusterTree< GaussianFactorGraph >::roots_

protectedinherited

concept check

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/linear/GaussianJunctionTree.h

Public Types

Public Member Functions

Protected Attributes

Testable

Advanced Interface

Standard Interface