#include <ISAM2Clique.h>

Inheritance diagram for gtsam::ISAM2Clique:

Collaboration diagram for gtsam::ISAM2Clique:

Public Types
typedef ISAM2Clique	This

typedef BayesTreeCliqueBase< This, GaussianFactorGraph >	Base

typedef std::shared_ptr< This >	shared_ptr

typedef std::weak_ptr< This >	weak_ptr

typedef GaussianConditional	ConditionalType

typedef ConditionalType::shared_ptr	sharedConditional

typedef GaussianFactorGraph	FactorGraphType

typedef EliminationTraitsType::BayesNetType	BayesNetType

typedef FactorGraphType::FactorType	FactorType

typedef FactorGraphType::Eliminate	Eliminate

Public Member Functions
	ISAM2Clique ()
	Default constructor.

	ISAM2Clique (const ISAM2Clique &other)

ISAM2Clique &	operator= (const ISAM2Clique &other)

void	setEliminationResult (const FactorGraphType::EliminationResult &eliminationResult)
	Overridden to also store the remaining factor and gradient contribution.

Base::FactorType::shared_ptr &	cachedFactor ()

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

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

size_t	calculate_nnz () const

void	findAll (const KeySet &markedMask, KeySet *keys) const

void	setEliminationResult (const typename FactorGraphType::EliminationResult &eliminationResult)

Standard Interface
const sharedConditional &	conditional () const

bool	isRoot () const

size_t	treeSize () const

size_t	numCachedSeparatorMarginals () const

derived_ptr	parent () const

int	problemSize () const

Public Attributes
Base::FactorType::shared_ptr	cachedFactor_

Vector	gradientContribution_

sharedConditional	conditional_

derived_weak_ptr	parent_

FastVector< derived_ptr >	children

int	problemSize_

bool	is_root

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

std::mutex	cachedSeparatorMarginalMutex_

Advanced Interface
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

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 ()

Detailed Description

Specialized Clique structure for ISAM2, incorporating caching and gradient contribution TODO: more documentation

Constructor & Destructor Documentation

◆ ISAM2Clique()

gtsam::ISAM2Clique::ISAM2Clique ( const ISAM2Clique & other )

inline

Copy constructor, does not copy solution pointers as these are invalid in different trees.

Member Function Documentation

◆ cachedFactor()

Base::FactorType::shared_ptr& gtsam::ISAM2Clique::cachedFactor ( )

inline

Access the cached factor

◆ conditional()

const sharedConditional& gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::conditional ( ) const

inlineinherited

Access the conditional

◆ deleteCachedShortcuts()

void gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::deleteCachedShortcuts ( )

inherited

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

◆ deleteCachedShortcutsNonRecursive()

void gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::deleteCachedShortcutsNonRecursive ( )

inlineprotectedinherited

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

◆ findAll()

void gtsam::ISAM2Clique::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. 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?

◆ isRoot()

bool gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::isRoot ( ) const

inlineinherited

is this the root of a Bayes tree ?

◆ marginal2()

BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::FactorGraphType gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::marginal2 ( Eliminate function = EliminationTraitsType::DefaultEliminate ) const

inherited

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

◆ nnz_internal()

void gtsam::ISAM2Clique::nnz_internal ( size_t * result ) const

Starting from the root, add up entries of frontal and conditional matrices of each conditional

◆ numCachedSeparatorMarginals()

size_t gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::numCachedSeparatorMarginals ( ) const

inherited

Collect number of cliques with cached separator marginals

◆ operator=()

ISAM2Clique& gtsam::ISAM2Clique::operator= ( const ISAM2Clique & other )

inline

Assignment operator, does not copy solution pointers as these are invalid in different trees.

◆ parent()

derived_ptr gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::parent ( ) const

inlineinherited

return a shared_ptr to the parent clique

◆ print()

void gtsam::ISAM2Clique::print	(	const std::string &	s = `""`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print this node

Reimplemented from gtsam::BayesTreeCliqueBase< ISAM2Clique, GaussianFactorGraph >.

◆ problemSize()

int gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::problemSize ( ) const

inlineinherited

Problem size (used for parallel traversal)

◆ separatorMarginal()

BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::FactorGraphType gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::separatorMarginal ( Eliminate function = EliminationTraitsType::DefaultEliminate ) const

inherited

return the marginal P(S) on the separator

◆ setEliminationResult()

void gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::setEliminationResult ( const typename FactorGraphType::EliminationResult & eliminationResult )

inherited

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()

BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::BayesNetType gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::shortcut	(	const derived_ptr &	root,
		Eliminate	function = `EliminationTraitsType::DefaultEliminate`
	)		const

inherited

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

◆ shortcut_indices()

KeyVector gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::shortcut_indices	(	const derived_ptr &	B,
		const FactorGraphType &	p_Cp_B
	)		const

protectedinherited

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()

size_t gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::treeSize ( ) const

inherited

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

Member Data Documentation

◆ cachedSeparatorMarginalMutex_

std::mutex gtsam::BayesTreeCliqueBase< ISAM2Clique , GaussianFactorGraph >::cachedSeparatorMarginalMutex_

mutableprotectedinherited

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 file:

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/nonlinear/ISAM2Clique.h

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Advanced Interface

Detailed Description

Constructor & Destructor Documentation

◆ ISAM2Clique()

Member Function Documentation

◆ cachedFactor()

◆ conditional()

◆ deleteCachedShortcuts()

◆ deleteCachedShortcutsNonRecursive()

◆ findAll()

◆ isRoot()

◆ marginal2()

◆ nnz_internal()

◆ numCachedSeparatorMarginals()

◆ operator=()

◆ parent()

◆ print()

◆ problemSize()

◆ separatorMarginal()

◆ setEliminationResult()

◆ shortcut()

◆ shortcut_indices()

◆ treeSize()

Member Data Documentation

◆ cachedSeparatorMarginalMutex_