Inheritance diagram for gtsam::ISAM2JunctionTree:

Collaboration diagram for gtsam::ISAM2JunctionTree:

Public Types
typedef JunctionTree< ISAM2BayesTree, GaussianFactorGraph >	Base

typedef ISAM2JunctionTree	This

typedef std::shared_ptr< This >	shared_ptr

typedef ISAM2BayesTree	BayesTreeType
	The BayesTree type produced by elimination.

typedef GaussianFactorGraph	FactorGraphType
	The factor graph type.

typedef ISAM2BayesTree ::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
	ISAM2JunctionTree (const GaussianEliminationTree &eliminationTree)

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

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

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

Static Protected Member Functions
Standard Constructors
static This	FromEliminationTree (const ETREE &eliminationTree)

Protected Attributes
FastVector< sharedFactor >	remainingFactors_

FastVector< sharedNode >	roots_

Member Function Documentation

◆ eliminate()

std::pair< std::shared_ptr< ISAM2BayesTree >, std::shared_ptr< GaussianFactorGraph > > gtsam::EliminatableClusterTree< ISAM2BayesTree , 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< ISAM2BayesTree , 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< ISAM2BayesTree , 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/nonlinear/ISAM2-impl.h

Public Types

Public Member Functions

Static Protected Member Functions

Protected Attributes