#include <SymbolicJunctionTree.h>

Inheritance diagram for gtsam::SymbolicJunctionTree:

Collaboration diagram for gtsam::SymbolicJunctionTree:

Public Types
typedef JunctionTree< SymbolicBayesTree, SymbolicFactorGraph >	Base
	Base class.

typedef SymbolicJunctionTree	This
	This class.

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

typedef SymbolicBayesTree	BayesTreeType
	The BayesTree type produced by elimination.

typedef SymbolicFactorGraph	FactorGraphType
	The factor graph type.

typedef SymbolicBayesTree ::ConditionalType	ConditionalType
	The type of conditionals.

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

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

typedef SymbolicFactorGraph ::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
	SymbolicJunctionTree (const SymbolicEliminationTree &eliminationTree)

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
static This	FromEliminationTree (const ETREE &eliminationTree)

Detailed Description

A EliminatableClusterTree, i.e., 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

◆ SymbolicJunctionTree()

gtsam::SymbolicJunctionTree::SymbolicJunctionTree ( const SymbolicEliminationTree & eliminationTree )

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

Member Function Documentation

◆ eliminate()

std::pair< std::shared_ptr< SymbolicBayesTree >, std::shared_ptr< SymbolicFactorGraph > > gtsam::EliminatableClusterTree< SymbolicBayesTree , SymbolicFactorGraph >::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< SymbolicBayesTree , SymbolicFactorGraph >::FromEliminationTree ( const ETREE & eliminationTree )

inlinestaticprotectedinherited

Build the junction tree from an elimination tree.

◆ print()

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

inherited

Print the cluster tree

◆ remainingFactors()

const FastVector<sharedFactor>& gtsam::EliminatableClusterTree< SymbolicBayesTree , SymbolicFactorGraph >::remainingFactors ( ) const

inlineinherited

Return the remaining factors that are not pulled into elimination

◆ roots()

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

inlineinherited

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

Member Data Documentation

◆ roots_

FastVector<sharedNode> gtsam::ClusterTree< SymbolicFactorGraph >::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/symbolic/SymbolicJunctionTree.h

Public Types

Public Member Functions

Protected Attributes

Testable

Advanced Interface

Standard Interface