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31 template class BayesTreeCliqueBase<GaussianBayesTreeClique, GaussianFactorGraph>;
32 template class BayesTree<GaussianBayesTreeClique>;
52 auto cg = clique->conditional();
53 double logDet = cg->logDeterminant();
55 (*parentSum.
logDet) += logDet;
75 gttic(GaussianBayesTree_optimizeGradientSearch);
104 treeTraversal::no_op visitorPost;
bool equals(const This &other, double tol=1e-9) const
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VectorValues optimizeGradientSearch() const
VectorValues gradientAtZero() const
sharedConditional marginalFactor(Key j, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const
Chordal Bayes Net, the result of eliminating a factor graph.
const EIGEN_DEVICE_FUNC ExpReturnType exp() const
LogDeterminantData(double *logDet)
Struct to help with traversing the Bayes Tree for log-determinant computation. Records the data which...
VectorValues gradient(const VectorValues &x0) const
virtual VectorValues gradientAtZero() const
double logDeterminant(const typename BAYESTREE::sharedClique &clique)
VectorValues optimize() const
VectorValues optimizeBayesTree(const BAYESTREE &bayesTree)
Templated algorithms that are used in multiple places in linear.
const gtsam::Symbol key('X', 0)
VectorValues optimizeGradientSearch() const
void DepthFirstForestParallel(FOREST &forest, DATA &rootData, VISITOR_PRE &visitorPre, VISITOR_POST &visitorPost, int problemSizeThreshold=10)
double error(const VectorValues &x) const
Gaussian Bayes Tree, the result of eliminating a GaussianJunctionTree.
double determinant() const
Matrix marginalCovariance(Key key) const
bool equals(const This &other, double tol=1e-9) const
Base class for cliques of a BayesTree.
double error(const VectorValues &x) const
double logDeterminant() const
Bayes Tree is a tree of cliques of a Bayes Chain.
std::uint64_t Key
Integer nonlinear key type.
LogDeterminantData & logDeterminant(const GaussianBayesTreeClique::shared_ptr &clique, LogDeterminantData &parentSum)
std::shared_ptr< This > shared_ptr
VectorValues gradient(const VectorValues &x0) const
gtsam
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autogenerated on Fri Nov 1 2024 03:32:34