gtsam::SymbolicEliminationTree Class Reference

Inheritance diagram for gtsam::SymbolicEliminationTree:

Collaboration diagram for gtsam::SymbolicEliminationTree:

Public Types
typedef EliminationTree< SymbolicBayesNet, SymbolicFactorGraph >	Base
	Base class.
typedef SymbolicEliminationTree	This
	This class.
typedef std::shared_ptr< This >	shared_ptr
	Shared pointer to this class.
typedef SymbolicFactorGraph	FactorGraphType
	The factor graph type.
typedef SymbolicFactorGraph ::FactorType	FactorType
	The type of factors.
typedef std::shared_ptr< FactorType >	sharedFactor
	Shared pointer to a factor.
typedef SymbolicBayesNet	BayesNetType
	The BayesNet corresponding to FACTOR.
typedef BayesNetType::ConditionalType	ConditionalType
	The type of conditionals.
typedef std::shared_ptr< ConditionalType >	sharedConditional
	Shared pointer to a conditional.
typedef SymbolicFactorGraph ::Eliminate	Eliminate
typedef std::shared_ptr< Node >	sharedNode
	Shared pointer to Node.

Public Member Functions
	SymbolicEliminationTree (const SymbolicFactorGraph &factorGraph, const VariableIndex &structure, const Ordering &order)
	SymbolicEliminationTree (const SymbolicFactorGraph &factorGraph, const Ordering &order)
bool	equals (const This &other, double tol=1e-9) const
Standard Interface
std::pair< std::shared_ptr< BayesNetType >, std::shared_ptr< FactorGraphType > >	eliminate (Eliminate function) const
Advanced Interface
const FastVector< sharedNode > &	roots () const
const FastVector< sharedFactor > &	remainingFactors () const
void	swap (This &other)

Protected Attributes
FastVector< sharedNode >	roots_
FastVector< sharedFactor >	remainingFactors_

Friends
class	::EliminationTreeTester

Testable
void	print (const std::string &name="EliminationTree: ", const KeyFormatter &formatter=DefaultKeyFormatter) const
bool	equals (const This &other, double tol=1e-9) const

Constructor & Destructor Documentation

SymbolicEliminationTree() [1/2]

gtsam::SymbolicEliminationTree::SymbolicEliminationTree	(	const SymbolicFactorGraph &	factorGraph,
		const VariableIndex &	structure,
		const Ordering &	order
	)

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

SymbolicEliminationTree() [2/2]

gtsam::SymbolicEliminationTree::SymbolicEliminationTree	(	const SymbolicFactorGraph &	factorGraph,
		const Ordering &	order
	)

Build the elimination tree of a factor graph. Note that this has to compute the column structure as a VariableIndex, so if you already have this precomputed, use the other constructor instead.

Parameters

factorGraph

The factor graph for which to build the elimination tree

Member Function Documentation

eliminate()

std::pair< std::shared_ptr< SymbolicBayesNet >, std::shared_ptr< SymbolicFactorGraph > > gtsam::EliminationTree< SymbolicBayesNet , SymbolicFactorGraph >::eliminate ( Eliminate  function ) const

inherited

Eliminate the factors to a Bayes net and remaining factor graph

Parameters

function

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

Returns

The Bayes net and factor graph resulting from elimination

equals() [1/2]

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

Test whether the tree is equal to another

equals() [2/2]

bool gtsam::EliminationTree< SymbolicBayesNet , SymbolicFactorGraph >::equals ( const This &  other, double  tol = 1e-9  ) const

protectedinherited

Test whether the tree is equal to another

print()

void gtsam::EliminationTree< SymbolicBayesNet , SymbolicFactorGraph >::print ( const std::string &  name = "EliminationTree< SymbolicBayesNet, SymbolicFactorGraph >: ", const KeyFormatter &  formatter = DefaultKeyFormatter  ) const

inherited

Print the tree to cout

remainingFactors()

const FastVector<sharedFactor>& gtsam::EliminationTree< SymbolicBayesNet , SymbolicFactorGraph >::remainingFactors ( ) const

inlineinherited

Return the remaining factors that are not pulled into elimination

roots()

const FastVector<sharedNode>& gtsam::EliminationTree< SymbolicBayesNet , SymbolicFactorGraph >::roots ( ) const

inlineinherited

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

swap()

void gtsam::EliminationTree< SymbolicBayesNet , SymbolicFactorGraph >::swap ( This &  other )

inherited

Swap the data of this tree with another one, this operation is very fast.

Member Data Documentation

roots_

FastVector<sharedNode> gtsam::EliminationTree< SymbolicBayesNet , SymbolicFactorGraph >::roots_

protectedinherited

concept check

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

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