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bool | equals (const This &other, double tol=1e-9) const |
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| SymbolicISAM () |
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| SymbolicISAM (const SymbolicBayesTree &bayesTree) |
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void | update (const FactorGraphType &newFactors, const Eliminate &function=EliminationTraitsType::DefaultEliminate) |
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void | updateInternal (const FactorGraphType &newFactors, Cliques *orphans, const Eliminate &function=EliminationTraitsType::DefaultEliminate) |
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size_t | size () const |
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bool | empty () const |
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const Nodes & | nodes () const |
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sharedClique | operator[] (Key j) const |
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const Roots & | roots () const |
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const sharedClique & | clique (Key j) const |
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BayesTreeCliqueData | getCliqueData () const |
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size_t | numCachedSeparatorMarginals () const |
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sharedConditional | marginalFactor (Key j, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const |
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sharedFactorGraph | joint (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const |
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sharedBayesNet | jointBayesNet (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const |
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void | dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| Output to graphviz format, stream version.
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std::string | dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| Output to graphviz format string.
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void | saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| output to file with graphviz format.
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void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
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bool | equals (const This &other, double tol=1e-9) const |
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◆ Nodes
◆ Roots
◆ SymbolicISAM() [1/2]
gtsam::SymbolicISAM::SymbolicISAM |
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Create an empty Bayes Tree
◆ SymbolicISAM() [2/2]
◆ addClique()
◆ addFactorsToGraph()
Add all cliques in this BayesTree to the specified factor graph
◆ clear()
◆ clique()
alternate syntax for matlab: find the clique that contains the variable with Key j
◆ deleteCachedShortcuts()
Clear all shortcut caches - use before timing on marginal calculation to avoid residual cache data
◆ dot()
private helper method for saving the Tree to a text file in GraphViz format
◆ empty()
Check if there are any cliques in the tree
◆ equals() [1/2]
bool gtsam::SymbolicBayesTree::equals |
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const This & |
other, |
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double |
tol = 1e-9 |
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inherited |
◆ equals() [2/2]
◆ fillNodesIndex()
Fill the nodes index for a subtree
◆ findParentClique()
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]
Gather data on all cliques
◆ getCliqueData() [2/2]
Gather data on a single clique
◆ insertRoot()
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()
return joint on two variables Limitation: can only calculate joint if cliques are disjoint or one of them is root
◆ jointBayesNet()
return joint on two variables as a BayesNet Limitation: can only calculate joint if cliques are disjoint or one of them is root
◆ marginalFactor()
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()
Return nodes. Each node is a clique of variables obtained after elimination.
◆ numCachedSeparatorMarginals()
Collect number of cliques with cached separator marginals
◆ operator[]()
◆ print()
◆ removeClique()
remove a clique: warning, can result in a forest
◆ removePath()
Remove path from clique to root and return that path as factors plus a list of orphaned subtree roots. Used in removeTop below.
◆ removeSubtree()
Remove the requested subtree.
◆ removeTop()
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()
◆ size()
◆ update()
void gtsam::ISAM< SymbolicBayesTree >::update |
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const FactorGraphType & |
newFactors, |
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const Eliminate & |
function = EliminationTraitsType::DefaultEliminate |
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update the Bayes tree with a set of new factors, typically derived from measurements
- Parameters
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newFactors | is a factor graph that contains the new factors |
function | an elimination routine |
◆ updateInternal()
void gtsam::ISAM< SymbolicBayesTree >::updateInternal |
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const FactorGraphType & |
newFactors, |
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Cliques * |
orphans, |
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const Eliminate & |
function = EliminationTraitsType::DefaultEliminate |
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inherited |
updateInternal provides access to list of orphans for drawing purposes
◆ nodes_
Map from indices to Clique
◆ roots_
The documentation for this class was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/symbolic/SymbolicISAM.h