#include <JunctionTree.h>

Inheritance diagram for gtsam::JunctionTree< BAYESTREE, GRAPH >:

Collaboration diagram for gtsam::JunctionTree< BAYESTREE, GRAPH >:

Public Types
typedef JunctionTree< BAYESTREE, GRAPH >	This
	This class.

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

typedef EliminatableClusterTree< BAYESTREE, GRAPH >	Base
	Our base class.

typedef BAYESTREE	BayesTreeType
	The BayesTree type produced by elimination.

typedef GRAPH	FactorGraphType
	The factor graph type.

typedef BAYESTREE::ConditionalType	ConditionalType
	The type of conditionals.

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

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

typedef GRAPH::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

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
template<class ETREE >
static This	FromEliminationTree (const ETREE &eliminationTree)

template<class ETREE_BAYESNET , class ETREE_GRAPH >
	JunctionTree (const EliminationTree< ETREE_BAYESNET, ETREE_GRAPH > &eliminationTree)

Detailed Description

template<class BAYESTREE, class GRAPH>
class gtsam::JunctionTree< BAYESTREE, GRAPH >

A JunctionTree is a cluster tree, a set of variable clusters with factors, arranged in a tree, with the additional property that it represents the clique tree associated with a Bayes Net.

In GTSAM a junction tree is an intermediate data structure in multifrontal variable elimination. Each node is a cluster of factors, along with a clique of variables that are eliminated all at once. In detail, every node k represents a clique (maximal fully connected subset) of an associated chordal graph, such as a chordal Bayes net resulting from elimination.

The difference with the BayesTree is that a JunctionTree stores factors, whereas a BayesTree stores conditionals, that are the product of eliminating the factors in the corresponding JunctionTree cliques.

The tree structure and elimination method are exactly analagous to the EliminationTree, except that in the JunctionTree, at each node multiple variables are eliminated at a time.

Constructor & Destructor Documentation

◆ JunctionTree()

template<class BAYESTREE , class GRAPH >

template<class ETREE_BAYESNET , class ETREE_GRAPH >

gtsam::JunctionTree< BAYESTREE, GRAPH >::JunctionTree ( const EliminationTree< ETREE_BAYESNET, ETREE_GRAPH > & eliminationTree )

protected

Build the junction tree from an elimination tree.

Member Function Documentation

◆ eliminate()

template<class BAYESTREE , class GRAPH >

std::pair< std::shared_ptr< BAYESTREE >, std::shared_ptr< GRAPH > > gtsam::EliminatableClusterTree< BAYESTREE, GRAPH >::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()

template<class BAYESTREE, class GRAPH>

template<class ETREE >

static This gtsam::JunctionTree< BAYESTREE, GRAPH >::FromEliminationTree ( const ETREE & eliminationTree )

inlinestaticprotected

Build the junction tree from an elimination tree.

◆ print()

template<class GRAPH >

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

inherited

Print the cluster tree

◆ remainingFactors()

template<class BAYESTREE, class GRAPH>

const FastVector<sharedFactor>& gtsam::EliminatableClusterTree< BAYESTREE, GRAPH >::remainingFactors ( ) const

inlineinherited

Return the remaining factors that are not pulled into elimination

◆ roots()

template<class GRAPH>

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

inlineinherited

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

Member Data Documentation

◆ roots_

template<class GRAPH>

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

protectedinherited

concept check

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

Public Types

Protected Attributes

Testable

Advanced Interface

Standard Interface