#include <BayesTree.h>

Public Types
typedef CLIQUE::BayesNetType	BayesNetType

typedef CLIQUE	Clique
	The clique type, normally BayesTreeClique. More...

typedef FastList< sharedClique >	Cliques

typedef CLIQUE::ConditionalType	ConditionalType

typedef FactorGraphType::Eliminate	Eliminate

typedef CLIQUE::EliminationTraitsType	EliminationTraitsType

typedef CLIQUE::FactorGraphType	FactorGraphType

typedef CLIQUE::FactorType	FactorType

typedef Clique	Node
	Synonym for Clique (TODO: remove) More...

typedef ConcurrentMap< Key, sharedClique >	Nodes

typedef FastVector< sharedClique >	Roots

typedef boost::shared_ptr< BayesNetType >	sharedBayesNet

typedef boost::shared_ptr< Clique >	sharedClique
	Shared pointer to a clique. More...

typedef boost::shared_ptr< ConditionalType >	sharedConditional

typedef boost::shared_ptr< FactorType >	sharedFactor

typedef boost::shared_ptr< FactorGraphType >	sharedFactorGraph

typedef sharedClique	sharedNode
	Synonym for sharedClique (TODO: remove) More...

Public Member Functions
Standard Interface
size_t	size () const

bool	empty () const

const Nodes &	nodes () const

const sharedNode	operator[] (Key j) const

const Roots &	roots () const

const sharedClique &	clique (Key j) const

BayesTreeCliqueData	getCliqueData () const

size_t	numCachedSeparatorMarginals () const

sharedConditional	marginalFactor (Key j, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const

sharedFactorGraph	joint (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const

sharedBayesNet	jointBayesNet (Key j1, Key j2, const Eliminate &function=EliminationTraitsType::DefaultEliminate) const

void	saveGraph (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const

Protected Types
typedef boost::shared_ptr< This >	shared_ptr

typedef BayesTree< CLIQUE >	This

Protected Member Functions
This &	operator= (const This &other)

Standard Constructors
	BayesTree ()

	BayesTree (const This &other)

Protected Attributes
Nodes	nodes_

Roots	roots_

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

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const

Advanced Interface
template<class BAYESRTEE , class GRAPH >
class	EliminatableClusterTree

class	boost::serialization::access

void	saveGraph (std::ostream &s, sharedClique clique, const KeyFormatter &keyFormatter, int parentnum=0) const

void	getCliqueData (sharedClique clique, BayesTreeCliqueData *stats) const

void	removeClique (sharedClique clique)

void	fillNodesIndex (const sharedClique &subtree)

template<class CONTAINER >
Key	findParentClique (const CONTAINER &parents) const

void	clear ()

void	deleteCachedShortcuts ()

void	removePath (sharedClique clique, BayesNetType bn, Cliques orphans)

void	removeTop (const KeyVector &keys, BayesNetType bn, Cliques orphans)

Cliques	removeSubtree (const sharedClique &subtree)

void	insertRoot (const sharedClique &subtree)

void	addClique (const sharedClique &clique, const sharedClique &parent_clique=sharedClique())

void	addFactorsToGraph (FactorGraph< FactorType > *graph) const

template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Detailed Description

template<class CLIQUE>
class gtsam::BayesTree< CLIQUE >

Definition at line 64 of file BayesTree.h.

Member Typedef Documentation

template<class CLIQUE>

typedef CLIQUE::BayesNetType gtsam::BayesTree< CLIQUE >::BayesNetType

Definition at line 77 of file BayesTree.h.

template<class CLIQUE>

typedef CLIQUE gtsam::BayesTree< CLIQUE >::Clique

The clique type, normally BayesTreeClique.

Definition at line 71 of file BayesTree.h.

template<class CLIQUE>

typedef FastList<sharedClique> gtsam::BayesTree< CLIQUE >::Cliques

A convenience class for a list of shared cliques

Definition at line 87 of file BayesTree.h.

template<class CLIQUE>

typedef CLIQUE::ConditionalType gtsam::BayesTree< CLIQUE >::ConditionalType

Definition at line 75 of file BayesTree.h.

template<class CLIQUE>

typedef FactorGraphType::Eliminate gtsam::BayesTree< CLIQUE >::Eliminate

Definition at line 83 of file BayesTree.h.

template<class CLIQUE>

typedef CLIQUE::EliminationTraitsType gtsam::BayesTree< CLIQUE >::EliminationTraitsType

Definition at line 84 of file BayesTree.h.

template<class CLIQUE>

typedef CLIQUE::FactorGraphType gtsam::BayesTree< CLIQUE >::FactorGraphType

Definition at line 81 of file BayesTree.h.

template<class CLIQUE>

typedef CLIQUE::FactorType gtsam::BayesTree< CLIQUE >::FactorType

Definition at line 79 of file BayesTree.h.

template<class CLIQUE>

typedef Clique gtsam::BayesTree< CLIQUE >::Node

Synonym for Clique (TODO: remove)

Definition at line 73 of file BayesTree.h.

template<class CLIQUE>

typedef ConcurrentMap<Key, sharedClique> gtsam::BayesTree< CLIQUE >::Nodes

Map from keys to Clique

Definition at line 90 of file BayesTree.h.

template<class CLIQUE>

typedef FastVector<sharedClique> gtsam::BayesTree< CLIQUE >::Roots

Root cliques

Definition at line 93 of file BayesTree.h.

template<class CLIQUE>

typedef boost::shared_ptr<This> gtsam::BayesTree< CLIQUE >::shared_ptr

protected

Definition at line 68 of file BayesTree.h.

template<class CLIQUE>

typedef boost::shared_ptr<BayesNetType> gtsam::BayesTree< CLIQUE >::sharedBayesNet

Definition at line 78 of file BayesTree.h.

template<class CLIQUE>

typedef boost::shared_ptr<Clique> gtsam::BayesTree< CLIQUE >::sharedClique

Shared pointer to a clique.

Definition at line 72 of file BayesTree.h.

template<class CLIQUE>

typedef boost::shared_ptr<ConditionalType> gtsam::BayesTree< CLIQUE >::sharedConditional

Definition at line 76 of file BayesTree.h.

template<class CLIQUE>

typedef boost::shared_ptr<FactorType> gtsam::BayesTree< CLIQUE >::sharedFactor

Definition at line 80 of file BayesTree.h.

template<class CLIQUE>

typedef boost::shared_ptr<FactorGraphType> gtsam::BayesTree< CLIQUE >::sharedFactorGraph

Definition at line 82 of file BayesTree.h.

template<class CLIQUE>

typedef sharedClique gtsam::BayesTree< CLIQUE >::sharedNode

Synonym for sharedClique (TODO: remove)

Definition at line 74 of file BayesTree.h.

template<class CLIQUE>

typedef BayesTree<CLIQUE> gtsam::BayesTree< CLIQUE >::This

protected

Definition at line 67 of file BayesTree.h.

Constructor & Destructor Documentation

template<class CLIQUE>

gtsam::BayesTree< CLIQUE >::BayesTree ( )

inlineprotected

Create an empty Bayes Tree

Definition at line 107 of file BayesTree.h.

template<class CLIQUE >

gtsam::BayesTree< CLIQUE >::BayesTree ( const This & other )

protected

Copy constructor

Definition at line 161 of file BayesTree-inst.h.

Member Function Documentation

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::addClique	(	const sharedClique &	clique,
		const sharedClique &	parent_clique = `sharedClique()`
	)

add a clique (top down)

Definition at line 125 of file BayesTree-inst.h.

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::addFactorsToGraph ( FactorGraph< FactorType > * graph ) const

Add all cliques in this BayesTree to the specified factor graph

Definition at line 151 of file BayesTree-inst.h.

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::clear ( void )

Remove all nodes

Definition at line 391 of file BayesTree-inst.h.

template<class CLIQUE>

const sharedClique& gtsam::BayesTree< CLIQUE >::clique ( Key j ) const

inline

alternate syntax for matlab: find the clique that contains the variable with Key j

Definition at line 150 of file BayesTree.h.

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::deleteCachedShortcuts ( )

Clear all shortcut caches - use before timing on marginal calculation to avoid residual cache data

Definition at line 399 of file BayesTree-inst.h.

template<class CLIQUE>

bool gtsam::BayesTree< CLIQUE >::empty ( ) const

inline

Check if there are any cliques in the tree

Definition at line 136 of file BayesTree.h.

template<class CLIQUE >

bool gtsam::BayesTree< CLIQUE >::equals	(	const This &	other,
		double	tol = `1e-9`
	)		const

protected

check equality

Definition at line 213 of file BayesTree-inst.h.

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::fillNodesIndex ( const sharedClique & subtree )

protected

Fill the nodes index for a subtree

Definition at line 229 of file BayesTree-inst.h.

template<class CLIQUE >

template<class CONTAINER >

Key gtsam::BayesTree< CLIQUE >::findParentClique ( const CONTAINER & parents ) const

Find parent clique of a conditional. It will look at all parents and return the one with the lowest index in the ordering.

Definition at line 221 of file BayesTree-inst.h.

template<class CLIQUE >

BayesTreeCliqueData gtsam::BayesTree< CLIQUE >::getCliqueData ( ) const

Gather data on all cliques

Definition at line 38 of file BayesTree-inst.h.

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::getCliqueData	(	sharedClique	clique,
		BayesTreeCliqueData *	stats
	)		const

protected

Gather data on a single clique

Definition at line 46 of file BayesTree-inst.h.

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::insertRoot ( const sharedClique & subtree )

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.

Definition at line 243 of file BayesTree-inst.h.

template<class CLIQUE >

BayesTree< CLIQUE >::sharedFactorGraph gtsam::BayesTree< CLIQUE >::joint	(	Key	j1,
		Key	j2,
		const Eliminate &	function = `EliminationTraitsType::DefaultEliminate`
	)		const

return joint on two variables Limitation: can only calculate joint if cliques are disjoint or one of them is root

Definition at line 276 of file BayesTree-inst.h.

template<class CLIQUE >

BayesTree< CLIQUE >::sharedBayesNet gtsam::BayesTree< CLIQUE >::jointBayesNet	(	Key	j1,
		Key	j2,
		const Eliminate &	function = `EliminationTraitsType::DefaultEliminate`
	)		const

return joint on two variables as a BayesNet Limitation: can only calculate joint if cliques are disjoint or one of them is root

Definition at line 285 of file BayesTree-inst.h.

template<class CLIQUE >

BayesTree< CLIQUE >::sharedConditional gtsam::BayesTree< CLIQUE >::marginalFactor	(	Key	j,
		const Eliminate &	function = `EliminationTraitsType::DefaultEliminate`
	)		const

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.

Definition at line 253 of file BayesTree-inst.h.

template<class CLIQUE>

const Nodes& gtsam::BayesTree< CLIQUE >::nodes ( ) const

inline

return nodes

Definition at line 141 of file BayesTree.h.

template<class CLIQUE >

size_t gtsam::BayesTree< CLIQUE >::numCachedSeparatorMarginals ( ) const

Collect number of cliques with cached separator marginals

Definition at line 58 of file BayesTree-inst.h.

template<class CLIQUE >

BayesTree< CLIQUE > & gtsam::BayesTree< CLIQUE >::operator= ( const This & other )

protected

Assignment operator

Definition at line 182 of file BayesTree-inst.h.

template<class CLIQUE>

const sharedNode gtsam::BayesTree< CLIQUE >::operator[] ( Key j ) const

inline

Access node by variable

Definition at line 144 of file BayesTree.h.

template<class CLIQUE >

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

print

Definition at line 195 of file BayesTree-inst.h.

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::removeClique ( sharedClique clique )

protected

remove a clique: warning, can result in a forest

Definition at line 407 of file BayesTree-inst.h.

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::removePath	(	sharedClique	clique,
		BayesNetType *	bn,
		Cliques *	orphans
	)

Remove path from clique to root and return that path as factors plus a list of orphaned subtree roots. Used in removeTop below.

Definition at line 431 of file BayesTree-inst.h.

template<class CLIQUE >

BayesTree< CLIQUE >::Cliques gtsam::BayesTree< CLIQUE >::removeSubtree ( const sharedClique & subtree )

Remove the requested subtree.

Definition at line 479 of file BayesTree-inst.h.

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::removeTop	(	const KeyVector &	keys,
		BayesNetType *	bn,
		Cliques *	orphans
	)

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.

Definition at line 458 of file BayesTree-inst.h.

template<class CLIQUE>

const Roots& gtsam::BayesTree< CLIQUE >::roots ( ) const

inline

return root cliques

Definition at line 147 of file BayesTree.h.

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::saveGraph	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

Read only with side effectssaves the Tree to a text file in GraphViz format

Definition at line 67 of file BayesTree-inst.h.

template<class CLIQUE >

void gtsam::BayesTree< CLIQUE >::saveGraph	(	std::ostream &	s,
		sharedClique	clique,
		const KeyFormatter &	keyFormatter,
		int	parentnum = `0`
	)		const

protected

private helper method for saving the Tree to a text file in GraphViz format

Definition at line 79 of file BayesTree-inst.h.

template<class CLIQUE>

template<class ARCHIVE >

void gtsam::BayesTree< CLIQUE >::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 256 of file BayesTree.h.

template<class CLIQUE >

size_t gtsam::BayesTree< CLIQUE >::size ( ) const

number of cliques

Definition at line 116 of file BayesTree-inst.h.

Friends And Related Function Documentation

template<class CLIQUE>

friend class boost::serialization::access

friend

Serialization function

Definition at line 254 of file BayesTree.h.

template<class CLIQUE>

template<class BAYESRTEE , class GRAPH >

friend class EliminatableClusterTree

friend

Definition at line 250 of file BayesTree.h.

Member Data Documentation

template<class CLIQUE>

Nodes gtsam::BayesTree< CLIQUE >::nodes_

protected

Map from indices to Clique

Definition at line 98 of file BayesTree.h.

template<class CLIQUE>

Roots gtsam::BayesTree< CLIQUE >::roots_

protected

Root cliques

Definition at line 101 of file BayesTree.h.

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

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Testable

Advanced Interface

Detailed Description

template<class CLIQUE> class gtsam::BayesTree< CLIQUE >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class CLIQUE>
class gtsam::BayesTree< CLIQUE >