#include <linearAlgorithms-inst.h>
Collaboration diagram for gtsam::internal::linearAlgorithms::OptimizeClique< CLIQUE >:
Public Member Functions | |
| OptimizeData | operator() (const std::shared_ptr< CLIQUE > &clique, OptimizeData &parentData) |
Public Attributes | |
| VectorValues | collectedResult |
Detailed Description
template<class CLIQUE>
struct gtsam::internal::linearAlgorithms::OptimizeClique< CLIQUE >
Pre-order visitor for back-substitution in a Bayes tree. The visitor function operator()() optimizes the clique given the solution for the parents, and returns the solution for the clique's frontal variables. In addition, it adds the solution to a global collected solution that will finally be returned to the user. The reason we pass the individual clique solutions between nodes is to avoid log(n) lookups over all variables, they instead then are only over a node's parent variables.
The documentation for this struct was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/linear/linearAlgorithms-inst.h
