Inheritance diagram for gtsam::HybridGaussianISAM:

Collaboration diagram for gtsam::HybridGaussianISAM:

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Public Types
typedef ISAM< HybridBayesTree >	Base

typedef HybridGaussianISAM	This

typedef std::shared_ptr< This >	shared_ptr

typedef Base::BayesNetType	BayesNetType

typedef Base::FactorGraphType	FactorGraphType

typedef Base::Clique	Clique

typedef Base::sharedClique	sharedClique

typedef Base::Cliques	Cliques

typedef Clique	Node
	Synonym for Clique (TODO: remove)

typedef sharedClique	sharedNode
	Synonym for sharedClique (TODO: remove)

typedef HybridBayesTreeClique ::ConditionalType	ConditionalType

typedef std::shared_ptr< ConditionalType >	sharedConditional

typedef std::shared_ptr< BayesNetType >	sharedBayesNet

typedef HybridBayesTreeClique ::FactorType	FactorType

typedef std::shared_ptr< FactorType >	sharedFactor

typedef std::shared_ptr< FactorGraphType >	sharedFactorGraph

typedef ConcurrentMap< Key, sharedClique >	Nodes

typedef FastVector< sharedClique >	Roots

Public Member Functions
void	update (const HybridGaussianFactorGraph &newFactors, const std::optional< size_t > &maxNrLeaves={}, const std::optional< Ordering > &ordering={}, const HybridBayesTree::Eliminate &function=HybridBayesTree::EliminationTraitsType::DefaultEliminate)
	Perform update step with new factors. More...

Standard Constructors
	HybridGaussianISAM ()

	HybridGaussianISAM (const HybridBayesTree &bayesTree)

Advanced Interface Interface
void	update (const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate)

void	updateInternal (const FactorGraphType &newFactors, Cliques *orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate)

Standard interface
bool	equals (const This &other, double tol=1e-9) const

GaussianBayesTree	choose (const DiscreteValues &assignment) const
	Get the Gaussian Bayes Tree which corresponds to a specific discrete value assignment. More...

HybridValues	optimize () const
	Optimize the hybrid Bayes tree by computing the MPE for the current set of discrete variables and using it to compute the best continuous update delta. More...

VectorValues	optimize (const DiscreteValues &assignment) const
	Recursively optimize the BayesTree to produce a vector solution. More...

void	prune (const size_t maxNumberLeaves)
	Prune the underlying Bayes tree. More...

Standard Interface
size_t	size () const

bool	empty () const

const Nodes &	nodes () const

sharedClique	operator[] (Key j) const

const Roots &	roots () const

const sharedClique &	clique (Key j) const

BayesTreeCliqueData	getCliqueData () const

size_t	numCachedSeparatorMarginals () const

sharedConditional	marginalFactor (Key j, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const

sharedFactorGraph	joint (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const

sharedBayesNet	jointBayesNet (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const

Graph Display
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.

Static Public Member Functions
static Ordering	GetOrdering (HybridGaussianFactorGraph &factors, const HybridGaussianFactorGraph &newFactors)
	Helper method to get an ordering given the existing factors and any new factors added. More...

Protected Attributes
Nodes	nodes_

Roots	roots_

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

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

Advanced Interface
Key	findParentClique (const CONTAINER &parents) const

void	clear ()

void	deleteCachedShortcuts ()

void	removePath (sharedClique clique, BayesNetType bn, Cliques orphans)

void	removeTop (const KeyVector &keys, BayesNetType bn, Cliques orphans)

Cliques	removeSubtree (const sharedClique &subtree)

void	insertRoot (const sharedClique &subtree)

void	addClique (const sharedClique &clique, const sharedClique &parent_clique=sharedClique())

void	addFactorsToGraph (FactorGraph< FactorType > *graph) const

void	getCliqueData (sharedClique clique, BayesTreeCliqueData *stats) const

void	dot (std::ostream &s, sharedClique clique, const KeyFormatter &keyFormatter, int parentnum=0) const

void	removeClique (sharedClique clique)

void	fillNodesIndex (const sharedClique &subtree)

Member Typedef Documentation

◆ Nodes

typedef ConcurrentMap<Key, sharedClique> gtsam::BayesTree< HybridBayesTreeClique >::Nodes

inherited

Map from keys to Clique

◆ Roots

typedef FastVector<sharedClique> gtsam::BayesTree< HybridBayesTreeClique >::Roots

inherited

Root cliques

Constructor & Destructor Documentation

◆ HybridGaussianISAM() [1/2]

gtsam::HybridGaussianISAM::HybridGaussianISAM ( )

Create an empty Bayes Tree

◆ HybridGaussianISAM() [2/2]

gtsam::HybridGaussianISAM::HybridGaussianISAM ( const HybridBayesTree & bayesTree )

Copy constructor

Member Function Documentation

◆ addClique()

void gtsam::BayesTree< HybridBayesTreeClique >::addClique	(	const sharedClique &	clique,
		const sharedClique &	parent_clique = `sharedClique()`
	)

inherited

add a clique (top down)

◆ addFactorsToGraph()

void gtsam::BayesTree< HybridBayesTreeClique >::addFactorsToGraph ( FactorGraph< FactorType > * graph ) const

inherited

Add all cliques in this BayesTree to the specified factor graph

◆ choose()

GaussianBayesTree gtsam::HybridBayesTree::choose ( const DiscreteValues & assignment ) const

inherited

Get the Gaussian Bayes Tree which corresponds to a specific discrete value assignment.

Parameters

assignment The discrete value assignment for the discrete keys.

Returns: GaussianBayesTree

◆ clear()

void gtsam::BayesTree< HybridBayesTreeClique >::clear ( )

inherited

Remove all nodes

◆ clique()

const sharedClique& gtsam::BayesTree< HybridBayesTreeClique >::clique ( Key j ) const

inlineinherited

alternate syntax for matlab: find the clique that contains the variable with Key j

◆ deleteCachedShortcuts()

void gtsam::BayesTree< HybridBayesTreeClique >::deleteCachedShortcuts ( )

inherited

Clear all shortcut caches - use before timing on marginal calculation to avoid residual cache data

◆ dot()

void gtsam::BayesTree< HybridBayesTreeClique >::dot	(	std::ostream &	s,
		sharedClique	clique,
		const KeyFormatter &	keyFormatter,
		int	parentnum = `0`
	)		const

protectedinherited

private helper method for saving the Tree to a text file in GraphViz format

◆ empty()

bool gtsam::BayesTree< HybridBayesTreeClique >::empty ( ) const

inlineinherited

Check if there are any cliques in the tree

◆ equals() [1/2]

bool gtsam::HybridBayesTree::equals	(	const This &	other,
		double	tol = `1e-9`
	)		const

inherited

Check equality

◆ equals() [2/2]

bool gtsam::BayesTree< HybridBayesTreeClique >::equals	(	const This &	other,
		double	tol = `1e-9`
	)		const

protectedinherited

check equality

◆ fillNodesIndex()

void gtsam::BayesTree< HybridBayesTreeClique >::fillNodesIndex ( const sharedClique & subtree )

protectedinherited

Fill the nodes index for a subtree

◆ findParentClique()

Key gtsam::BayesTree< HybridBayesTreeClique >::findParentClique ( const CONTAINER & parents ) const

inherited

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]

BayesTreeCliqueData gtsam::BayesTree< HybridBayesTreeClique >::getCliqueData ( ) const

inherited

Gather data on all cliques

◆ getCliqueData() [2/2]

void gtsam::BayesTree< HybridBayesTreeClique >::getCliqueData	(	sharedClique	clique,
		BayesTreeCliqueData *	stats
	)		const

protectedinherited

Gather data on a single clique

◆ GetOrdering()

static Ordering gtsam::HybridGaussianISAM::GetOrdering	(	HybridGaussianFactorGraph &	factors,
		const HybridGaussianFactorGraph &	newFactors
	)

static

Helper method to get an ordering given the existing factors and any new factors added.

Parameters

factors	The existing factors in the BayesTree.
newFactors	New factors added during the update step.

Returns: Ordering

◆ insertRoot()

void gtsam::BayesTree< HybridBayesTreeClique >::insertRoot ( const sharedClique & subtree )

inherited

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()

BayesTree< HybridBayesTreeClique >::sharedFactorGraph gtsam::BayesTree< HybridBayesTreeClique >::joint	(	Key	j1,
		Key	j2,
		const Eliminate &	function = `EliminationTraitsType::DefaultEliminate`
	)		const

inherited

return joint on two variables Limitation: can only calculate joint if cliques are disjoint or one of them is root

◆ jointBayesNet()

BayesTree< HybridBayesTreeClique >::sharedBayesNet gtsam::BayesTree< HybridBayesTreeClique >::jointBayesNet	(	Key	j1,
		Key	j2,
		const Eliminate &	function = `EliminationTraitsType::DefaultEliminate`
	)		const

inherited

return joint on two variables as a BayesNet Limitation: can only calculate joint if cliques are disjoint or one of them is root

◆ marginalFactor()

BayesTree< HybridBayesTreeClique >::sharedConditional gtsam::BayesTree< HybridBayesTreeClique >::marginalFactor	(	Key	j,
		const Eliminate &	function = `EliminationTraitsType::DefaultEliminate`
	)		const

inherited

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()

const Nodes& gtsam::BayesTree< HybridBayesTreeClique >::nodes ( ) const

inlineinherited

Return nodes. Each node is a clique of variables obtained after elimination.

◆ numCachedSeparatorMarginals()

size_t gtsam::BayesTree< HybridBayesTreeClique >::numCachedSeparatorMarginals ( ) const

inherited

Collect number of cliques with cached separator marginals

◆ operator[]()

sharedClique gtsam::BayesTree< HybridBayesTreeClique >::operator[] ( Key j ) const

inlineinherited

Access node by variable

◆ optimize() [1/2]

HybridValues gtsam::HybridBayesTree::optimize ( ) const

inherited

Optimize the hybrid Bayes tree by computing the MPE for the current set of discrete variables and using it to compute the best continuous update delta.

Returns: HybridValues

◆ optimize() [2/2]

VectorValues gtsam::HybridBayesTree::optimize ( const DiscreteValues & assignment ) const

inherited

Recursively optimize the BayesTree to produce a vector solution.

Parameters

assignment The discrete values assignment to select the Gaussian mixtures.

Returns: VectorValues

◆ print()

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

inherited

print

◆ prune()

void gtsam::HybridBayesTree::prune ( const size_t maxNumberLeaves )

inherited

Prune the underlying Bayes tree.

Parameters

maxNumberLeaves The max number of leaf nodes to keep.

◆ removeClique()

void gtsam::BayesTree< HybridBayesTreeClique >::removeClique ( sharedClique clique )

protectedinherited

remove a clique: warning, can result in a forest

◆ removePath()

void gtsam::BayesTree< HybridBayesTreeClique >::removePath	(	sharedClique	clique,
		BayesNetType *	bn,
		Cliques *	orphans
	)

inherited

Remove path from clique to root and return that path as factors plus a list of orphaned subtree roots. Used in removeTop below.

◆ removeSubtree()

BayesTree< HybridBayesTreeClique >::Cliques gtsam::BayesTree< HybridBayesTreeClique >::removeSubtree ( const sharedClique & subtree )

inherited

Remove the requested subtree.

◆ removeTop()

void gtsam::BayesTree< HybridBayesTreeClique >::removeTop	(	const KeyVector &	keys,
		BayesNetType *	bn,
		Cliques *	orphans
	)

inherited

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()

const Roots& gtsam::BayesTree< HybridBayesTreeClique >::roots ( ) const

inlineinherited

return root cliques

◆ size()

size_t gtsam::BayesTree< HybridBayesTreeClique >::size ( ) const

inherited

number of cliques

◆ update() [1/2]

void gtsam::ISAM< HybridBayesTree >::update	(	const FactorGraphType &	newFactors,
		const Eliminate &	function = `EliminationTraitsType::DefaultEliminate`
	)

inherited

update the Bayes tree with a set of new factors, typically derived from measurements

Parameters

newFactors	is a factor graph that contains the new factors
function	an elimination routine

◆ update() [2/2]

void gtsam::HybridGaussianISAM::update	(	const HybridGaussianFactorGraph &	newFactors,
		const std::optional< size_t > &	maxNrLeaves = `{}`,
		const std::optional< Ordering > &	ordering = `{}`,
		const HybridBayesTree::Eliminate &	function = `HybridBayesTree::EliminationTraitsType::DefaultEliminate`
	)

Perform update step with new factors.

Parameters

newFactors	Factor graph of new factors to add and eliminate.
maxNrLeaves	The maximum number of leaves to keep after pruning.
ordering	Custom elimination ordering.
function	Elimination function.

◆ updateInternal()

void gtsam::ISAM< HybridBayesTree >::updateInternal	(	const FactorGraphType &	newFactors,
		Cliques *	orphans,
		const Eliminate &	function = `EliminationTraitsType::DefaultEliminate`
	)

inherited

updateInternal provides access to list of orphans for drawing purposes

Member Data Documentation

◆ nodes_

Nodes gtsam::BayesTree< HybridBayesTreeClique >::nodes_

protectedinherited

Map from indices to Clique

◆ roots_

Roots gtsam::BayesTree< HybridBayesTreeClique >::roots_

protectedinherited

Root cliques

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/hybrid/HybridGaussianISAM.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Testable

Advanced Interface

Member Typedef Documentation

◆ Nodes

◆ Roots

Constructor & Destructor Documentation

◆ HybridGaussianISAM() [1/2]

◆ HybridGaussianISAM() [2/2]

Member Function Documentation

◆ addClique()

◆ addFactorsToGraph()

◆ choose()

◆ clear()

◆ clique()

◆ deleteCachedShortcuts()

◆ dot()

◆ empty()

◆ equals() [1/2]

◆ equals() [2/2]

◆ fillNodesIndex()

◆ findParentClique()

◆ getCliqueData() [1/2]

◆ getCliqueData() [2/2]

◆ GetOrdering()

◆ insertRoot()

◆ joint()

◆ jointBayesNet()

◆ marginalFactor()

◆ nodes()

◆ numCachedSeparatorMarginals()

◆ operator[]()

◆ optimize() [1/2]

◆ optimize() [2/2]

◆ print()

◆ prune()

◆ removeClique()

◆ removePath()

◆ removeSubtree()

◆ removeTop()

◆ roots()

◆ size()

◆ update() [1/2]

◆ update() [2/2]

◆ updateInternal()

Member Data Documentation

◆ nodes_

◆ roots_